Title :
Haptic control for steer-by-wire systems
Author :
Bajcinca, N. ; Cortesao, R. ; Hauschild, M. ; Bals, J. ; Hirzinger, G.
Author_Institution :
Inst. of Robotics & Mechatronics, DLR, Oberpfaffenhofen, Germany
Abstract :
A force-feedback actuation loop for a steer-by-wire vehicle is developed. It is shown that the performance of this loop can be essentially improved by the introduction of a torque sensor. Model reference based control algorithms based on disturbance observer (DOB) and active observers (AOB) are applied to enhance the robustness vs. non-modelled dynamics and uncertain driver impedance.
Keywords :
actuators; automobiles; force control; force feedback; force sensors; model reference adaptive control systems; observers; robust control; torque control; vehicle dynamics; active observers; control algorithms; disturbance observer; force-feedback actuation loop; haptic control; nonmodelled dynamics; robustness; steer-by-wire systems; torque sensor; uncertain driver impedance; Actuators; Control systems; Force control; Haptic interfaces; Impedance; Mathematical model; Mechatronics; Robots; Torque; Wire;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1248948
