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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pubmed:23978660Le document en format XML
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<author><name sortKey="Rodriguez Angeles, A" sort="Rodriguez Angeles, A" uniqKey="Rodriguez Angeles A" first="A" last="Rodriguez-Angeles">A. Rodriguez-Angeles</name>
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<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>
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<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>
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<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>
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<KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Disturbance</Keyword>
<Keyword MajorTopicYN="N">Haptic feedback</Keyword>
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<Keyword MajorTopicYN="N">Master</Keyword>
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