Nigel System Identification

System Identification of Nigel

Experiments

CG Identification	Yaw MOI Identification
Tire Stiffness Identification	Friction Coefficient Identification

Measured and Identified Parameters

Parameter	Symbol	Value	Unit
Length	L	0.31847	m
Width	W	0.17500	m
Height	H	0.25680	m
Wheelbase	l	0.14155	m
Track Width	l_t	0.14724	m
Wheel Radius	r_i	0.0325	m
Mass	m	2.68	kg
CG Position*	—	x: 0.0637 y: 0.0736 z: 0.0993	m
CG Front Offset	l_f	0.06226	m
CG Rear Offset	l_r	0.07929	m
Yaw Moment of Inertia	I_z	0.01944	kg.m^2
Tire Stiffness	C_i	22.4768	N.rad^-1
Friction Coefficient**	u_i	0.4	—

*CG position is measured from the front-left wheel contact point.

**Friction coefficient noted here is identified under nominal conditions.