Abstract
At wiper system, the self-excited vibration is often occurred, and it is caused some problem, such as a noise, low visibility, and so on. In order to reduce the vibration by control technology, we estimate behavior of tip of wiper arm using extended Kalman filter. One of nonlinear factor is friction between wiper rubber and windshield at wiper system, and the model of wiper system has discontinuity in the velocity equal to 0. Therefore, the Jacobian is so big and it cannot use for the real system. So in this paper, we propose method of applying extended Kalman filter to discontinuity system, without changing structure of model.
