HapticV1, Main, Exploration, bibRecord, 004933

An Adjustable Steer-by-Wire Haptic-Interface Tracking Controller for Ground Vehicles

Identifieur interne : 004933 ( Main/Exploration ); précédent : 004932; suivant : 004934

An Adjustable Steer-by-Wire Haptic-Interface Tracking Controller for Ground Vehicles

Auteurs : Abhijit Baviskar [États-Unis] ; John R. Wagner [États-Unis] ; Darren M. Dawson [États-Unis] ; David Braganza [États-Unis] ; Pradeep Setlur [États-Unis]

Source :

IEEE transactions on vehicular technology [ 0018-9545 ] ; 2009.

RBID : Pascal:09-0235770

Descripteurs français

Pascal (Inist)
- Interface haptique, Poursuite cible, Système commande, Personnalisation, Interface utilisateur, Excitateur, Caractéristique dynamique, Evaluation performance, Sécurité, Commande non linéaire, Synthèse commande, Circuit accordable, Rétroaction, Erreur poursuite, Mesure couple mécanique, Mesure couple, Observateur, Simulation numérique, Etude expérimentale, Commande adaptative, Régulation couple, Dialogue homme machine.
Wicri :
- topic : Observateur.

English descriptors

KwdEn :
- Adaptive control, Control synthesis, Control system, Customization, Driver, Dynamic characteristic, Experimental study, Feedback regulation, Haptic interfaces, Man machine dialogue, Non linear control, Numerical simulation, Observer, Performance evaluation, Safety, Target tracking, Torque measurement, Torque regulation, Tracking error, Tunable circuit, User interface.

Abstract

The introduction of steer-by-wire system technology into ground transportation vehicles permits customization of the human-machine haptic interface to accommodate the driver's desired level of road "feel." The ability to tune the steering system's dynamic behavior can potentially enhance the driver's overall performance and increase the vehicle's safety. A nonlinear tracking controller is designed to ensure that the directional control steering assembly follows the operator's commanded maneuvers at the driver interface. In addition, the controller provides the driver with tunable force feedback proportional to the reaction forces at the tire-road interface. Two control techniques are provided to guarantee that the corresponding tracking errors are asymptotically forced to zero. The first compensates for parametric uncertainty, whereas the second eliminates the need for torque measurements through the use of observers. Representative numerical and experimental results are presented to demonstrate the controller's performance for various driving scenarios.

Affiliations:

Links toward previous steps (curation, corpus...)

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to stream PascalFrancis, to step Curation: 000C55
to stream PascalFrancis, to step Checkpoint: 000626
to stream Main, to step Merge: 004A19
to stream Main, to step Curation: 004933

Le document en format XML

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<term>Dynamic characteristic</term>
<term>Experimental study</term>
<term>Feedback regulation</term>
<term>Haptic interfaces</term>
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<term>Non linear control</term>
<term>Numerical simulation</term>
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<term>Performance evaluation</term>
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<term>Torque regulation</term>
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<term>Excitateur</term>
<term>Caractéristique dynamique</term>
<term>Evaluation performance</term>
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<front><div type="abstract" xml:lang="en">The introduction of steer-by-wire system technology into ground transportation vehicles permits customization of the human-machine haptic interface to accommodate the driver's desired level of road "feel." The ability to tune the steering system's dynamic behavior can potentially enhance the driver's overall performance and increase the vehicle's safety. A nonlinear tracking controller is designed to ensure that the directional control steering assembly follows the operator's commanded maneuvers at the driver interface. In addition, the controller provides the driver with tunable force feedback proportional to the reaction forces at the tire-road interface. Two control techniques are provided to guarantee that the corresponding tracking errors are asymptotically forced to zero. The first compensates for parametric uncertainty, whereas the second eliminates the need for torque measurements through the use of observers. Representative numerical and experimental results are presented to demonstrate the controller's performance for various driving scenarios.</div>
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Serveur d'exploration sur les dispositifs haptiques

An Adjustable Steer-by-Wire Haptic-Interface Tracking Controller for Ground Vehicles

An Adjustable Steer-by-Wire Haptic-Interface Tracking Controller for Ground Vehicles

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri