Title :
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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-2852-6
DOI :
10.1109/AIM.2009.5229939
