DocumentCode :
3254965
Title :
A nonlinear tracking controller for a haptic interface steer-by-wire systems
Author :
Seflur, P. ; Dawson, D. ; Chen, J. ; Wagner, J.
Author_Institution :
Dept. of Electr., Comput. & Mech. Eng., Clemson Univ., SC, USA
Volume :
3
fYear :
2002
fDate :
10-13 Dec. 2002
Firstpage :
3112
Abstract :
A nonlinear tracking controller is presented in the 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 feedback, 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 uncertainty; however, torque measurements are required. An extension is also presented that eliminates torque measurements.
Keywords :
adaptive control; asymptotic stability; automobiles; force feedback; haptic interfaces; nonlinear control systems; position control; state feedback; vehicle dynamics; directional control assembly; driver interface; driver performance; haptic interface; nonlinear tracking controller; parametric uncertainty; steer-by-wire automotive systems; steering mechanism; tracking errors; tunable force feedback; Assembly; Automotive engineering; Control systems; Force control; Force feedback; Haptic interfaces; Nonlinear control systems; Proportional control; Torque control; Torque measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN :
0191-2216
Print_ISBN :
0-7803-7516-5
Type :
conf
DOI :
10.1109/CDC.2002.1184345
Filename :
1184345
Link To Document :
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