Active disturbance rejection control in steering by wire haptic systems.
Identifieur interne : 000722 ( PubMed/Checkpoint ); précédent : 000721; suivant : 000723Active disturbance rejection control in steering by wire haptic systems.
Auteurs : A. Rodriguez-Angeles [Mexique] ; J A Garcia-Antonio [Mexique]Source :
- ISA transactions [ 1879-2022 ] ; 2014.
Abstract
This paper introduces a steering by wired haptic system based on disturbance rejection control techniques. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure tracking between the commanded steering wheel angle and the tire orientation angle. The estimated disturbances at the steering rack are feedback to the steering wheel to provide a haptic interface with the driver. The overall system behaves as a bilateral master-slave system. Very few sensors and minimum knowledge of the dynamic model are required. Experimental results are presented on a prototype platform that consists on: (1) half of the steering rack of a beetle VW vehicle, (2) a steering wheel.
DOI: 10.1016/j.isatra.2013.06.013
PubMed: 23978660
Affiliations:
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San Pedro Zacatenco, Mexico City</wicri:regionArea><wicri:noRegion>Mexico City</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2014">2014</date><idno type="RBID">pubmed:23978660</idno><idno type="pmid">23978660</idno><idno type="doi">10.1016/j.isatra.2013.06.013</idno><idno type="wicri:Area/PubMed/Corpus">000887</idno><idno type="wicri:Area/PubMed/Curation">000887</idno><idno type="wicri:Area/PubMed/Checkpoint">000722</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Active disturbance rejection control in steering by wire haptic systems.</title><author><name sortKey="Rodriguez Angeles, A" sort="Rodriguez Angeles, A" uniqKey="Rodriguez Angeles A" first="A" last="Rodriguez-Angeles">A. Rodriguez-Angeles</name><affiliation wicri:level="1"><nlm:affiliation>Center for Research and Advanced Studies (CINVESTAV-IPN), Electrical Engineering Department, Mechatronics Group, Av. IPN, No. 2508, P.C. 07630, Col. San Pedro Zacatenco, Mexico City, Mexico. Electronic address: aangeles@cinvestav.mx.</nlm:affiliation><country xml:lang="fr">Mexique</country><wicri:regionArea>Center for Research and Advanced Studies (CINVESTAV-IPN), Electrical Engineering Department, Mechatronics Group, Av. IPN, No. 2508, P.C. 07630, Col. San Pedro Zacatenco, Mexico City</wicri:regionArea><wicri:noRegion>Mexico City</wicri:noRegion></affiliation></author><author><name sortKey="Garcia Antonio, J A" sort="Garcia Antonio, J A" uniqKey="Garcia Antonio J" first="J A" last="Garcia-Antonio">J A Garcia-Antonio</name><affiliation wicri:level="1"><nlm:affiliation>Center for Research and Advanced Studies (CINVESTAV-IPN), Electrical Engineering Department, Mechatronics Group, Av. IPN, No. 2508, P.C. 07630, Col. San Pedro Zacatenco, Mexico City, Mexico. Electronic address: jgarciaa@cinvestav.mx.</nlm:affiliation><country xml:lang="fr">Mexique</country><wicri:regionArea>Center for Research and Advanced Studies (CINVESTAV-IPN), Electrical Engineering Department, Mechatronics Group, Av. IPN, No. 2508, P.C. 07630, Col. San Pedro Zacatenco, Mexico City</wicri:regionArea><wicri:noRegion>Mexico City</wicri:noRegion></affiliation></author></analytic><series><title level="j">ISA transactions</title><idno type="eISSN">1879-2022</idno><imprint><date when="2014" type="published">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper introduces a steering by wired haptic system based on disturbance rejection control techniques. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure tracking between the commanded steering wheel angle and the tire orientation angle. The estimated disturbances at the steering rack are feedback to the steering wheel to provide a haptic interface with the driver. The overall system behaves as a bilateral master-slave system. Very few sensors and minimum knowledge of the dynamic model are required. Experimental results are presented on a prototype platform that consists on: (1) half of the steering rack of a beetle VW vehicle, (2) a steering wheel.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="PubMed-not-MEDLINE"><PMID Version="1">23978660</PMID><DateCreated><Year>2014</Year><Month>08</Month><Day>01</Day></DateCreated><DateCompleted><Year>2015</Year><Month>03</Month><Day>30</Day></DateCompleted><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1879-2022</ISSN><JournalIssue CitedMedium="Internet"><Volume>53</Volume><Issue>4</Issue><PubDate><Year>2014</Year><Month>Jul</Month></PubDate></JournalIssue><Title>ISA transactions</Title><ISOAbbreviation>ISA Trans</ISOAbbreviation></Journal><ArticleTitle>Active disturbance rejection control in steering by wire haptic systems.</ArticleTitle><Pagination><MedlinePgn>939-46</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1016/j.isatra.2013.06.013</ELocationID><ELocationID EIdType="pii" ValidYN="Y">S0019-0578(13)00104-3</ELocationID><Abstract><AbstractText>This paper introduces a steering by wired haptic system based on disturbance rejection control techniques. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure tracking between the commanded steering wheel angle and the tire orientation angle. The estimated disturbances at the steering rack are feedback to the steering wheel to provide a haptic interface with the driver. The overall system behaves as a bilateral master-slave system. Very few sensors and minimum knowledge of the dynamic model are required. Experimental results are presented on a prototype platform that consists on: (1) half of the steering rack of a beetle VW vehicle, (2) a steering wheel.</AbstractText><CopyrightInformation>© 2013 ISA. Published by Elsevier Ltd. All rights reserved.</CopyrightInformation></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Rodriguez-Angeles</LastName><ForeName>A</ForeName><Initials>A</Initials><AffiliationInfo><Affiliation>Center for Research and Advanced Studies (CINVESTAV-IPN), Electrical Engineering Department, Mechatronics Group, Av. IPN, No. 2508, P.C. 07630, Col. San Pedro Zacatenco, Mexico City, Mexico. Electronic address: aangeles@cinvestav.mx.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Garcia-Antonio</LastName><ForeName>J A</ForeName><Initials>JA</Initials><AffiliationInfo><Affiliation>Center for Research and Advanced Studies (CINVESTAV-IPN), Electrical Engineering Department, Mechatronics Group, Av. IPN, No. 2508, P.C. 07630, Col. San Pedro Zacatenco, Mexico City, Mexico. 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Rodriguez-Angeles</name></noRegion><name sortKey="Garcia Antonio, J A" sort="Garcia Antonio, J A" uniqKey="Garcia Antonio J" first="J A" last="Garcia-Antonio">J A Garcia-Antonio</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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