A nonlinear tracking controller for a haptic interface steer-by-wire systems

Author

Seflur, P. ; Dawson, D. ; Chen, J. ; Wagner, J.

Author_Institution

Dept. of Electr., Comput. & Mech. Eng., Clemson Univ., SC, USA

Volume

3

fYear

2002

fDate

10-13 Dec. 2002

Firstpage

3112

Abstract

A nonlinear tracking controller is presented in the paper for the haptic interface in steer-by-wire automotive systems. Specifically, the controller is designed to ensure that the steering mechanism (i.e., directional control assembly) follows the operator commanded maneuvers at the driver interface. Further, the controller provides the driver with tunable force feedback, proportional to the reaction forces at the tire-road interface, and hence enhances the driver´s performance. The controller ensures that the corresponding tracking errors are asymptotically forced to zero in the presence of parametric uncertainty; however, torque measurements are required. An extension is also presented that eliminates torque measurements.

Keywords

adaptive control; asymptotic stability; automobiles; force feedback; haptic interfaces; nonlinear control systems; position control; state feedback; vehicle dynamics; directional control assembly; driver interface; driver performance; haptic interface; nonlinear tracking controller; parametric uncertainty; steer-by-wire automotive systems; steering mechanism; tracking errors; tunable force feedback; Assembly; Automotive engineering; Control systems; Force control; Force feedback; Haptic interfaces; Nonlinear control systems; Proportional control; Torque control; Torque measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2002, Proceedings of the 41st IEEE Conference on

ISSN

0191-2216

Print_ISBN

0-7803-7516-5

Type

conf

DOI

10.1109/CDC.2002.1184345

Filename

1184345