Title :
Model-matching control for steer-by-wire vehicles with under-actuated structure
Author :
Cortesao, Rui ; Bajcinca, Naim
Author_Institution :
Dept. of Electr. & Comput. Eng., Coimbra Univ., Portugal
fDate :
28 Sept.-2 Oct. 2004
Abstract :
The paper presents control architecture for steer-by-wire (SBW) vehicles based on conventional ones. Estimation techniques linked to state space design enter in the control loop. The active observer (AOB) is extended to under-actuated multiple-input-multiple-output (MIMO) systems. Stochastic strategies are presented. Simulation results for the model-matching problem are presented. In the presence of road disturbances (e.g. lateral wind), SBW vehicles have superior performance.
Keywords :
MIMO systems; road vehicles; state-space methods; steering systems; active observer; model-matching control; multiple-input-multiple-output system; road disturbances; state space design; steer-by-wire vehicle; stochastic strategy; underactuated structure; Actuators; Automotive engineering; Gears; Master-slave; Mechanical sensors; Orbital robotics; Road vehicles; Spline; Teeth; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389551
