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

被引：59

作者：

Baviskar, Abhijit ^{[1
]}

Wagner, John R. ^{[2
]}

Dawson, Darren M. ^{[3
]}

Braganza, David ^{[4
]}

Setlur, Pradeep ^{[5
]}

机构：

[1] Caterpillar Elect, Mossville, IL 61552 USA

[2] Clemson Univ, Dept Mech Engn, Clemson, SC 29634 USA

[3] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA

[4] OFS, Sturbridge, MA 01566 USA

[5] Calif State Univ Sacramento, Dept Elect & Elect Engn, Sacramento, CA 95819 USA

来源：

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2009年 / 58卷 / 02期

关键词：

Adaptive control; haptic feedback; steer by wire; torque observer; ROBUST-CONTROL; VALIDATION; SYSTEMS;

D O I：

10.1109/TVT.2008.925317

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：546 / 554

页数：9

共 27 条

[1] Ground vehicle steering systems: modelling, control, and analysis of hydraulic, electric and steer-by-wire configurations [J].