DocumentCode
2480435
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
Volume
2
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
1148
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389551
Filename
1389551
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