Haptic control for steer-by-wire systems

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.

Authors

• Naim Bajçinca
• Rui Cortesão
• Markus Hauschild
• Johann Bals
• Gerhard Hirzinger

Keywords

• Haptic interfaces
• Control systems
• Force control
• Torque
• Impedance
• Actuators
• Mathematical model
• Robots
• Mechatronics
• Wire
• Action Observation
• Disturbance Observer
• Torque Sensor
• Simulation Results
• Actuator
• Transfer Function
• Control Approach
• Adaptive Control
• Moment Of Inertia
• Estimation Equation
• Strain Gauges
• State Feedback
• Open Loop
• Muscle Length
• Feedforward Control
• Disturbance Rejection
• Open-loop Control
• Steering Angle
• Torque Ripple
• Human Arm
• Outer Control Loop
• Damping
• Friction
• Model Uncertainty
• State Space
• Control Structure