Compliant control of steer-by-wire systems

Author

Cetin, A. Emre ; Adli, M. Arif ; Barkana, Duygun Erol ; Kucuk, Haluk

Author_Institution

KaleAltinay Robotik ve Otomasyon, Istanbul, Turkey

fYear

2009

fDate

14-17 July 2009

Firstpage

636

Lastpage

643

Abstract

Vehicle directional control and driver interaction assemblies have been built to study and implement impedance control strategies on a steer-by-wire system. Adaptive online estimation is used to identify the dynamic parameters of vehicle directional control and driver interaction assemblies. A nonlinear 4 DOF vehicle model, including longitudinal, lateral, yaw and quasi-static roll motions is derived using Newtonian mechanics to simulate and test the impedance control strategies developed. Impedance control strategy is used to control the dynamic characteristics of the steering system for improving the steering-feel and vehicle stability.

Keywords

adaptive control; compliance control; nonlinear control systems; parameter estimation; road vehicles; stability; steering systems; vehicle dynamics; Newtonian mechanics; adaptive online estimation; driver interaction assembly; dynamic parameter identification; impedance control; lateral motion; longitudinal motion; nonlinear 4 DOF vehicle model; quasistatic roll motion; steer-by-wire system; vehicle directional control; vehicle stability; yaw motion; Adaptive control; Adaptive systems; Assembly systems; Control systems; Impedance; Nonlinear dynamical systems; Programmable control; Vehicle driving; Vehicle dynamics; Vehicles; adaptive on-line parameter estimation; compliant control; impedance control; steer-by-wire systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-2852-6

Type

conf

DOI

10.1109/AIM.2009.5229939

Filename

5229939