HapticV1, PascalFrancis, Corpus, bibRecord, 000F97

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

Identifieur interne : 000F97 ( PascalFrancis/Corpus ); précédent : 000F96; suivant : 000F98

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

Auteurs : P. Setlur ; D. Dawson ; J. Chen ; J. Wagner

Source :

RBID : Pascal:04-0291639

Descripteurs français

Pascal (Inist)
- Commande non linéaire, Synthèse commande, Rétroaction, Erreur poursuite, Sensibilité tactile, Fil métallique, Interface utilisateur, Automobile, Montage, Pneumatique, Mesure couple, Force réaction, Approximation asymptotique, Manoeuvre.

English descriptors

KwdEn :
- Assembly, Asymptotic approximation, Control synthesis, Feedback regulation, Maneuver, Motor car, Non linear control, Reaction force, Tactile sensitivity, Torque measurement, Tracking error, Tyre, User interface, Wire.

Abstract

A nonlinear tracking controller is presented in this 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 feed-back, 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 uncertainity; however, torque measurments are required. An extension is also presented that eliminates torque measurements.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 A nonlinear tracking controller for a haptic interfac steer-by-wire systems`
A09	`01`	`1`	`ENG`	`@1 41st IEEE conference on decision and control : Las Vegas NV, 10-13 December 2002`
A11	`01`	`1`		`@1 SETLUR (P.)`
A11	`02`	`1`		`@1 DAWSON (D.)`
A11	`03`	`1`		`@1 CHEN (J.)`
A11	`04`	`1`		`@1 WAGNER (J.)`
A14	`01`			`@1 Automotive Research Laboratory, Departments of Electrical / Computer and Mechanical Engineering Clemson University @2 Clemson, SC 29634 @3 USA @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut.`
A18	`01`	`1`		`@1 IEEE Control Systems Society @3 USA @9 patr.`
A20				`@1 3112-3117`
A21				`@1 2002`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-7516-5`
A30	`01`	`1`	`ENG`	`@1 IEEE conference on decision and control @2 41 @3 Las Vegas NV USA @4 2002-12-10`
A43	`01`			`@1 INIST @2 Y 37989 @5 354000117868045580`
A44				`@0 0000 @1 © 2004 INIST-CNRS. All rights reserved.`
A45				`@0 13 ref.`
A47	`01`	`1`		`@0 04-0291639`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 A nonlinear tracking controller is presented in this 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 feed-back, 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 uncertainity; however, torque measurments are required. An extension is also presented that eliminates torque measurements.
C02	`01`	`X`		`@0 001D02D01`
C03	`01`	`X`	`FRE`	`@0 Commande non linéaire @5 09`
C03	`01`	`X`	`ENG`	`@0 Non linear control @5 09`
C03	`01`	`X`	`SPA`	`@0 Control no lineal @5 09`
C03	`02`	`X`	`FRE`	`@0 Synthèse commande @5 10`
C03	`02`	`X`	`ENG`	`@0 Control synthesis @5 10`
C03	`02`	`X`	`SPA`	`@0 Síntesis control @5 10`
C03	`03`	`X`	`FRE`	`@0 Rétroaction @5 11`
C03	`03`	`X`	`ENG`	`@0 Feedback regulation @5 11`
C03	`03`	`X`	`SPA`	`@0 Retroacción @5 11`
C03	`04`	`X`	`FRE`	`@0 Erreur poursuite @5 12`
C03	`04`	`X`	`ENG`	`@0 Tracking error @5 12`
C03	`04`	`X`	`SPA`	`@0 Error persecusión @5 12`
C03	`05`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`05`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`05`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`06`	`X`	`FRE`	`@0 Fil métallique @5 19`
C03	`06`	`X`	`ENG`	`@0 Wire @5 19`
C03	`06`	`X`	`SPA`	`@0 Hilo metálico @5 19`
C03	`07`	`X`	`FRE`	`@0 Interface utilisateur @5 20`
C03	`07`	`X`	`ENG`	`@0 User interface @5 20`
C03	`07`	`X`	`SPA`	`@0 Interfase usuario @5 20`
C03	`08`	`X`	`FRE`	`@0 Automobile @5 21`
C03	`08`	`X`	`ENG`	`@0 Motor car @5 21`
C03	`08`	`X`	`SPA`	`@0 Automóvil @5 21`
C03	`09`	`X`	`FRE`	`@0 Montage @5 22`
C03	`09`	`X`	`ENG`	`@0 Assembly @5 22`
C03	`09`	`X`	`SPA`	`@0 Montaje @5 22`
C03	`10`	`X`	`FRE`	`@0 Pneumatique @5 23`
C03	`10`	`X`	`ENG`	`@0 Tyre @5 23`
C03	`10`	`X`	`SPA`	`@0 Neumático @5 23`
C03	`11`	`X`	`FRE`	`@0 Mesure couple @5 24`
C03	`11`	`X`	`ENG`	`@0 Torque measurement @5 24`
C03	`11`	`X`	`SPA`	`@0 Medición par @5 24`
C03	`12`	`X`	`FRE`	`@0 Force réaction @5 28`
C03	`12`	`X`	`ENG`	`@0 Reaction force @5 28`
C03	`12`	`X`	`SPA`	`@0 Fuerza reacción @5 28`
C03	`13`	`X`	`FRE`	`@0 Approximation asymptotique @5 29`
C03	`13`	`X`	`ENG`	`@0 Asymptotic approximation @5 29`
C03	`13`	`X`	`SPA`	`@0 Aproximación asintótica @5 29`
C03	`14`	`X`	`FRE`	`@0 Manoeuvre @4 CD @5 96`
C03	`14`	`X`	`ENG`	`@0 Maneuver @4 CD @5 96`
C03	`14`	`X`	`SPA`	`@0 Maniobra @4 CD @5 96`
N21				`@1 180`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 04-0291639 INIST
ET :	A nonlinear tracking controller for a haptic interfac steer-by-wire systems
AU :	SETLUR (P.); DAWSON (D.); CHEN (J.); WAGNER (J.)
AF :	Automotive Research Laboratory, Departments of Electrical / Computer and Mechanical Engineering Clemson University/Clemson, SC 29634/Etats-Unis (1 aut., 2 aut., 3 aut., 4 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE conference on decision and control/41/2002-12-10/Las Vegas NV USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 3112-3117; ISBN 0-7803-7516-5
LA :	Anglais
EA :	A nonlinear tracking controller is presented in this 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 feed-back, 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 uncertainity; however, torque measurments are required. An extension is also presented that eliminates torque measurements.
CC :	001D02D01
FD :	Commande non linéaire; Synthèse commande; Rétroaction; Erreur poursuite; Sensibilité tactile; Fil métallique; Interface utilisateur; Automobile; Montage; Pneumatique; Mesure couple; Force réaction; Approximation asymptotique; Manoeuvre
ED :	Non linear control; Control synthesis; Feedback regulation; Tracking error; Tactile sensitivity; Wire; User interface; Motor car; Assembly; Tyre; Torque measurement; Reaction force; Asymptotic approximation; Maneuver
SD :	Control no lineal; Síntesis control; Retroacción; Error persecusión; Sensibilidad tactil; Hilo metálico; Interfase usuario; Automóvil; Montaje; Neumático; Medición par; Fuerza reacción; Aproximación asintótica; Maniobra
LO :	INIST-Y 37989.354000117868045580
ID :	04-0291639

Links to Exploration step

Pascal:04-0291639

Le document en format XML

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<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">A nonlinear tracking controller for a haptic interfac steer-by-wire systems</title>
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<term>Maneuver</term>
<term>Motor car</term>
<term>Non linear control</term>
<term>Reaction force</term>
<term>Tactile sensitivity</term>
<term>Torque measurement</term>
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<front><div type="abstract" xml:lang="en">A nonlinear tracking controller is presented in this 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 feed-back, 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 uncertainity; however, torque measurments are required. An extension is also presented that eliminates torque measurements.</div>
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<fC01 i1="01" l="ENG"><s0>A nonlinear tracking controller is presented in this 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 feed-back, 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 uncertainity; however, torque measurments are required. An extension is also presented that eliminates torque measurements.</s0>
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<fC02 i1="01" i2="X"><s0>001D02D01</s0>
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<fC03 i1="01" i2="X" l="FRE"><s0>Commande non linéaire</s0>
<s5>09</s5>
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<s5>09</s5>
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<s5>09</s5>
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<s5>10</s5>
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<s5>11</s5>
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<s5>12</s5>
</fC03>
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<s5>12</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Error persecusión</s0>
<s5>12</s5>
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<fC03 i1="05" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
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<s5>18</s5>
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<s5>18</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>19</s5>
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<s5>20</s5>
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<s5>20</s5>
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<s5>20</s5>
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<s5>21</s5>
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<s5>22</s5>
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<s5>22</s5>
</fC03>
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<s5>22</s5>
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<s5>23</s5>
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<s5>23</s5>
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<s5>23</s5>
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<fC03 i1="11" i2="X" l="FRE"><s0>Mesure couple</s0>
<s5>24</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Torque measurement</s0>
<s5>24</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Medición par</s0>
<s5>24</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Force réaction</s0>
<s5>28</s5>
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<fC03 i1="12" i2="X" l="ENG"><s0>Reaction force</s0>
<s5>28</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Fuerza reacción</s0>
<s5>28</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE"><s0>Approximation asymptotique</s0>
<s5>29</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG"><s0>Asymptotic approximation</s0>
<s5>29</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA"><s0>Aproximación asintótica</s0>
<s5>29</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE"><s0>Manoeuvre</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG"><s0>Maneuver</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA"><s0>Maniobra</s0>
<s4>CD</s4>
<s5>96</s5>
</fC03>
<fN21><s1>180</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 04-0291639 INIST</NO>
<ET>A nonlinear tracking controller for a haptic interfac steer-by-wire systems</ET>
<AU>SETLUR (P.); DAWSON (D.); CHEN (J.); WAGNER (J.)</AU>
<AF>Automotive Research Laboratory, Departments of Electrical / Computer and Mechanical Engineering Clemson University/Clemson, SC 29634/Etats-Unis (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE conference on decision and control/41/2002-12-10/Las Vegas NV USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2002; Pp. 3112-3117; ISBN 0-7803-7516-5</SO>
<LA>Anglais</LA>
<EA>A nonlinear tracking controller is presented in this 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 feed-back, 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 uncertainity; however, torque measurments are required. An extension is also presented that eliminates torque measurements.</EA>
<CC>001D02D01</CC>
<FD>Commande non linéaire; Synthèse commande; Rétroaction; Erreur poursuite; Sensibilité tactile; Fil métallique; Interface utilisateur; Automobile; Montage; Pneumatique; Mesure couple; Force réaction; Approximation asymptotique; Manoeuvre</FD>
<ED>Non linear control; Control synthesis; Feedback regulation; Tracking error; Tactile sensitivity; Wire; User interface; Motor car; Assembly; Tyre; Torque measurement; Reaction force; Asymptotic approximation; Maneuver</ED>
<SD>Control no lineal; Síntesis control; Retroacción; Error persecusión; Sensibilidad tactil; Hilo metálico; Interfase usuario; Automóvil; Montaje; Neumático; Medición par; Fuerza reacción; Aproximación asintótica; Maniobra</SD>
<LO>INIST-Y 37989.354000117868045580</LO>
<ID>04-0291639</ID>
</server>
</inist>
</record>

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

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

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