A vehicle haptic steering by wire system based on high gain GPI observers
type: Item
instance of: scholarly article
title: A vehicle haptic steering by wire system based on high gain GPI observers
zbMATH Open document ID: 1407.93078
DOI: 10.1155/2014/981276
author: J. A. Garcia-Antonio
author: Alejandro Rodriguez-Ángeles
author: Hebertt Sira-Ramírez
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: A vehicle steering by wire (SBW) haptic system based on high gain generalized proportional integral (GPI) observers is introduced. The observers are considered for the estimation of dynamic perturbations that are present at the tire and steering wheel. To ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle, the estimated perturbations are on line canceled. As to provide a haptic interface with the driver, the estimated dynamic effects at the steering rack are fed back to the steering wheel, yielding a master-slave haptic system with bilateral communication. For implementation purposes few sensors and minimum knowledge of the dynamic model are required, which is a major advantage compared to other approaches. Only position tracking errors are fed back, while all other signals are estimated by the high gain GPI observers. The scheme is robust to uncertainty on the input gain and cancels dynamic perturbation effects such as friction and aligning forces on the tire. Experimental results are presented on a prototype platform.
Mathematics Subject Classification ID: 93B07
Mathematics Subject Classification ID: 93C15
Mathematics Subject Classification ID: 70Q05
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 7017771
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/981276
OpenAlex ID: W2041276435
Wikidata QID: Q59071374
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description: scientific article; zbMATH DE number 7017771