HapticV1, PascalFrancis, Corpus, bibRecord, 000777

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

Identifieur interne : 000777 ( PascalFrancis/Corpus ); précédent : 000776; suivant : 000778

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

Auteurs : Abhijit Baviskar ; John R. Wagner ; Darren M. Dawson ; David Braganza ; Pradeep Setlur

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.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A02	`01`			`@0 ITVTAB`
A03		`1`		`@0 IEEE trans. veh. technol.`
A05				`@2 58`
A06				`@2 2`
A08	`01`	`1`	`ENG`	`@1 An Adjustable Steer-by-Wire Haptic-Interface Tracking Controller for Ground Vehicles`
A11	`01`	`1`		`@1 BAVISKAR (Abhijit)`
A11	`02`	`1`		`@1 WAGNER (John R.)`
A11	`03`	`1`		`@1 DAWSON (Darren M.)`
A11	`04`	`1`		`@1 BRAGANZA (David)`
A11	`05`	`1`		`@1 SETLUR (Pradeep)`
A14	`01`			`@1 Caterpillar Electronics @2 Mossville, IL 61552 @3 USA @Z 1 aut.`
A14	`02`			`@1 Department of Mechanical Engineering, Clemson University @2 Clemson, SC 29634-0921 @3 USA @Z 2 aut.`
A14	`03`			`@1 Department of Electrical and Computer Engineering, Clemson University @2 Clemson, SC 29634-0915 @3 USA @Z 3 aut.`
A14	`04`			`@1 OFS @2 Sturbridge, MA 01566 @3 USA @Z 4 aut.`
A14	`05`			`@1 Department of Electrical and Electronic Engineering, California State University @2 Sacramento, CA 95819 @3 USA @Z 5 aut.`
A20				`@1 546-554`
A21				`@1 2009`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 222H1 @5 354000188422950040`
A44				`@0 0000 @1 © 2009 INIST-CNRS. All rights reserved.`
A45				`@0 27 ref.`
A47	`01`	`1`		`@0 09-0235770`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 IEEE transactions on vehicular technology`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D05D06`
C02	`02`	`X`		`@0 001D03J03`
C03	`01`	`3`	`FRE`	`@0 Interface haptique @5 01`
C03	`01`	`3`	`ENG`	`@0 Haptic interfaces @5 01`
C03	`02`	`3`	`FRE`	`@0 Poursuite cible @5 02`
C03	`02`	`3`	`ENG`	`@0 Target tracking @5 02`
C03	`03`	`X`	`FRE`	`@0 Système commande @5 03`
C03	`03`	`X`	`ENG`	`@0 Control system @5 03`
C03	`03`	`X`	`SPA`	`@0 Sistema control @5 03`
C03	`04`	`X`	`FRE`	`@0 Personnalisation @5 04`
C03	`04`	`X`	`ENG`	`@0 Customization @5 04`
C03	`04`	`X`	`SPA`	`@0 Personalización @5 04`
C03	`05`	`X`	`FRE`	`@0 Interface utilisateur @5 05`
C03	`05`	`X`	`ENG`	`@0 User interface @5 05`
C03	`05`	`X`	`SPA`	`@0 Interfase usuario @5 05`
C03	`06`	`X`	`FRE`	`@0 Excitateur @5 06`
C03	`06`	`X`	`ENG`	`@0 Driver @5 06`
C03	`06`	`X`	`SPA`	`@0 Excitador @5 06`
C03	`07`	`X`	`FRE`	`@0 Caractéristique dynamique @5 07`
C03	`07`	`X`	`ENG`	`@0 Dynamic characteristic @5 07`
C03	`07`	`X`	`SPA`	`@0 Característica dinámica @5 07`
C03	`08`	`X`	`FRE`	`@0 Evaluation performance @5 08`
C03	`08`	`X`	`ENG`	`@0 Performance evaluation @5 08`
C03	`08`	`X`	`SPA`	`@0 Evaluación prestación @5 08`
C03	`09`	`X`	`FRE`	`@0 Sécurité @5 09`
C03	`09`	`X`	`ENG`	`@0 Safety @5 09`
C03	`09`	`X`	`SPA`	`@0 Seguridad @5 09`
C03	`10`	`X`	`FRE`	`@0 Commande non linéaire @5 10`
C03	`10`	`X`	`ENG`	`@0 Non linear control @5 10`
C03	`10`	`X`	`SPA`	`@0 Control no lineal @5 10`
C03	`11`	`X`	`FRE`	`@0 Synthèse commande @5 11`
C03	`11`	`X`	`ENG`	`@0 Control synthesis @5 11`
C03	`11`	`X`	`SPA`	`@0 Síntesis control @5 11`
C03	`12`	`X`	`FRE`	`@0 Circuit accordable @5 12`
C03	`12`	`X`	`ENG`	`@0 Tunable circuit @5 12`
C03	`12`	`X`	`SPA`	`@0 Circuito acordable @5 12`
C03	`13`	`X`	`FRE`	`@0 Rétroaction @5 13`
C03	`13`	`X`	`ENG`	`@0 Feedback regulation @5 13`
C03	`13`	`X`	`SPA`	`@0 Retroacción @5 13`
C03	`14`	`X`	`FRE`	`@0 Erreur poursuite @5 14`
C03	`14`	`X`	`ENG`	`@0 Tracking error @5 14`
C03	`14`	`X`	`SPA`	`@0 Error persecusión @5 14`
C03	`15`	`3`	`FRE`	`@0 Mesure couple mécanique @5 15`
C03	`15`	`3`	`ENG`	`@0 Torque measurement @5 15`
C03	`16`	`X`	`FRE`	`@0 Mesure couple @5 16`
C03	`16`	`X`	`ENG`	`@0 Torque measurement @5 16`
C03	`16`	`X`	`SPA`	`@0 Medición par @5 16`
C03	`17`	`X`	`FRE`	`@0 Observateur @5 17`
C03	`17`	`X`	`ENG`	`@0 Observer @5 17`
C03	`17`	`X`	`SPA`	`@0 Observador @5 17`
C03	`18`	`X`	`FRE`	`@0 Simulation numérique @5 18`
C03	`18`	`X`	`ENG`	`@0 Numerical simulation @5 18`
C03	`18`	`X`	`SPA`	`@0 Simulación numérica @5 18`
C03	`19`	`X`	`FRE`	`@0 Etude expérimentale @5 19`
C03	`19`	`X`	`ENG`	`@0 Experimental study @5 19`
C03	`19`	`X`	`SPA`	`@0 Estudio experimental @5 19`
C03	`20`	`X`	`FRE`	`@0 Commande adaptative @5 20`
C03	`20`	`X`	`ENG`	`@0 Adaptive control @5 20`
C03	`20`	`X`	`SPA`	`@0 Control adaptativo @5 20`
C03	`21`	`X`	`FRE`	`@0 Régulation couple @5 21`
C03	`21`	`X`	`ENG`	`@0 Torque regulation @5 21`
C03	`21`	`X`	`SPA`	`@0 Regulación par @5 21`
C03	`22`	`X`	`FRE`	`@0 Dialogue homme machine @5 31`
C03	`22`	`X`	`ENG`	`@0 Man machine dialogue @5 31`
C03	`22`	`X`	`SPA`	`@0 Diálogo hombre máquina @5 31`
N21				`@1 173`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 09-0235770 INIST
ET :	An Adjustable Steer-by-Wire Haptic-Interface Tracking Controller for Ground Vehicles
AU :	BAVISKAR (Abhijit); WAGNER (John R.); DAWSON (Darren M.); BRAGANZA (David); SETLUR (Pradeep)
AF :	Caterpillar Electronics/Mossville, IL 61552/Etats-Unis (1 aut.); Department of Mechanical Engineering, Clemson University/Clemson, SC 29634-0921/Etats-Unis (2 aut.); Department of Electrical and Computer Engineering, Clemson University/Clemson, SC 29634-0915/Etats-Unis (3 aut.); OFS/Sturbridge, MA 01566/Etats-Unis (4 aut.); Department of Electrical and Electronic Engineering, California State University/Sacramento, CA 95819/Etats-Unis (5 aut.)
DT :	Publication en série; Niveau analytique
SO :	IEEE transactions on vehicular technology; ISSN 0018-9545; Coden ITVTAB; Etats-Unis; Da. 2009; Vol. 58; No. 2; Pp. 546-554; Bibl. 27 ref.
LA :	Anglais
EA :	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.
CC :	001D05D06; 001D03J03
FD :	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
ED :	Haptic interfaces; Target tracking; Control system; Customization; User interface; Driver; Dynamic characteristic; Performance evaluation; Safety; Non linear control; Control synthesis; Tunable circuit; Feedback regulation; Tracking error; Torque measurement; Torque measurement; Observer; Numerical simulation; Experimental study; Adaptive control; Torque regulation; Man machine dialogue
SD :	Sistema control; Personalización; Interfase usuario; Excitador; Característica dinámica; Evaluación prestación; Seguridad; Control no lineal; Síntesis control; Circuito acordable; Retroacción; Error persecusión; Medición par; Observador; Simulación numérica; Estudio experimental; Control adaptativo; Regulación par; Diálogo hombre máquina
LO :	INIST-222H1.354000188422950040
ID :	09-0235770

Links to Exploration step

Pascal:09-0235770

Le document en format XML

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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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<fC02 i1="01" i2="X"><s0>001D05D06</s0>
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<fC02 i1="02" i2="X"><s0>001D03J03</s0>
</fC02>
<fC03 i1="01" i2="3" l="FRE"><s0>Interface haptique</s0>
<s5>01</s5>
</fC03>
<fC03 i1="01" i2="3" l="ENG"><s0>Haptic interfaces</s0>
<s5>01</s5>
</fC03>
<fC03 i1="02" i2="3" l="FRE"><s0>Poursuite cible</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="3" l="ENG"><s0>Target tracking</s0>
<s5>02</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Système commande</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Control system</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Sistema control</s0>
<s5>03</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Personnalisation</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Customization</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Personalización</s0>
<s5>04</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>User interface</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>05</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Excitateur</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Driver</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Excitador</s0>
<s5>06</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Caractéristique dynamique</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Dynamic characteristic</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Característica dinámica</s0>
<s5>07</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Evaluation performance</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Performance evaluation</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Evaluación prestación</s0>
<s5>08</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Sécurité</s0>
<s5>09</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Safety</s0>
<s5>09</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Seguridad</s0>
<s5>09</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Commande non linéaire</s0>
<s5>10</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Non linear control</s0>
<s5>10</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Control no lineal</s0>
<s5>10</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Synthèse commande</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Control synthesis</s0>
<s5>11</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Síntesis control</s0>
<s5>11</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Circuit accordable</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Tunable circuit</s0>
<s5>12</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Circuito acordable</s0>
<s5>12</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>13</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>13</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Erreur poursuite</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Tracking error</s0>
<s5>14</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Error persecusión</s0>
<s5>14</s5>
</fC03>
<fC03 i1="15" i2="3" l="FRE"><s0>Mesure couple mécanique</s0>
<s5>15</s5>
</fC03>
<fC03 i1="15" i2="3" l="ENG"><s0>Torque measurement</s0>
<s5>15</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE"><s0>Mesure couple</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG"><s0>Torque measurement</s0>
<s5>16</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA"><s0>Medición par</s0>
<s5>16</s5>
</fC03>
<fC03 i1="17" i2="X" l="FRE"><s0>Observateur</s0>
<s5>17</s5>
</fC03>
<fC03 i1="17" i2="X" l="ENG"><s0>Observer</s0>
<s5>17</s5>
</fC03>
<fC03 i1="17" i2="X" l="SPA"><s0>Observador</s0>
<s5>17</s5>
</fC03>
<fC03 i1="18" i2="X" l="FRE"><s0>Simulation numérique</s0>
<s5>18</s5>
</fC03>
<fC03 i1="18" i2="X" l="ENG"><s0>Numerical simulation</s0>
<s5>18</s5>
</fC03>
<fC03 i1="18" i2="X" l="SPA"><s0>Simulación numérica</s0>
<s5>18</s5>
</fC03>
<fC03 i1="19" i2="X" l="FRE"><s0>Etude expérimentale</s0>
<s5>19</s5>
</fC03>
<fC03 i1="19" i2="X" l="ENG"><s0>Experimental study</s0>
<s5>19</s5>
</fC03>
<fC03 i1="19" i2="X" l="SPA"><s0>Estudio experimental</s0>
<s5>19</s5>
</fC03>
<fC03 i1="20" i2="X" l="FRE"><s0>Commande adaptative</s0>
<s5>20</s5>
</fC03>
<fC03 i1="20" i2="X" l="ENG"><s0>Adaptive control</s0>
<s5>20</s5>
</fC03>
<fC03 i1="20" i2="X" l="SPA"><s0>Control adaptativo</s0>
<s5>20</s5>
</fC03>
<fC03 i1="21" i2="X" l="FRE"><s0>Régulation couple</s0>
<s5>21</s5>
</fC03>
<fC03 i1="21" i2="X" l="ENG"><s0>Torque regulation</s0>
<s5>21</s5>
</fC03>
<fC03 i1="21" i2="X" l="SPA"><s0>Regulación par</s0>
<s5>21</s5>
</fC03>
<fC03 i1="22" i2="X" l="FRE"><s0>Dialogue homme machine</s0>
<s5>31</s5>
</fC03>
<fC03 i1="22" i2="X" l="ENG"><s0>Man machine dialogue</s0>
<s5>31</s5>
</fC03>
<fC03 i1="22" i2="X" l="SPA"><s0>Diálogo hombre máquina</s0>
<s5>31</s5>
</fC03>
<fN21><s1>173</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 09-0235770 INIST</NO>
<ET>An Adjustable Steer-by-Wire Haptic-Interface Tracking Controller for Ground Vehicles</ET>
<AU>BAVISKAR (Abhijit); WAGNER (John R.); DAWSON (Darren M.); BRAGANZA (David); SETLUR (Pradeep)</AU>
<AF>Caterpillar Electronics/Mossville, IL 61552/Etats-Unis (1 aut.); Department of Mechanical Engineering, Clemson University/Clemson, SC 29634-0921/Etats-Unis (2 aut.); Department of Electrical and Computer Engineering, Clemson University/Clemson, SC 29634-0915/Etats-Unis (3 aut.); OFS/Sturbridge, MA 01566/Etats-Unis (4 aut.); Department of Electrical and Electronic Engineering, California State University/Sacramento, CA 95819/Etats-Unis (5 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>IEEE transactions on vehicular technology; ISSN 0018-9545; Coden ITVTAB; Etats-Unis; Da. 2009; Vol. 58; No. 2; Pp. 546-554; Bibl. 27 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D05D06; 001D03J03</CC>
<FD>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</FD>
<ED>Haptic interfaces; Target tracking; Control system; Customization; User interface; Driver; Dynamic characteristic; Performance evaluation; Safety; Non linear control; Control synthesis; Tunable circuit; Feedback regulation; Tracking error; Torque measurement; Torque measurement; Observer; Numerical simulation; Experimental study; Adaptive control; Torque regulation; Man machine dialogue</ED>
<SD>Sistema control; Personalización; Interfase usuario; Excitador; Característica dinámica; Evaluación prestación; Seguridad; Control no lineal; Síntesis control; Circuito acordable; Retroacción; Error persecusión; Medición par; Observador; Simulación numérica; Estudio experimental; Control adaptativo; Regulación par; Diálogo hombre máquina</SD>
<LO>INIST-222H1.354000188422950040</LO>
<ID>09-0235770</ID>
</server>
</inist>
</record>

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

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

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