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Robust Control for Steer-by-Wire Vehicles

Bajcinca, Naim and Cortesao, Rui and Hauschild, Markus (2005) Robust Control for Steer-by-Wire Vehicles. Autonomous Robots, 19, pp. 193-214. Springer Science + Business Media, Inc. Manufactured in The Netherlands.

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Abstract

The design and analysis of steer-by-wire systems at the actuation and operational level is explored. At the actuation level, robust force feedback control using inverse disturbance observer structure and active observer algorithm is applied to enhance the robustness vs non-modelled dynamics and uncertain driver bio-impendance. At the operational level, the robustness aspects vs parameter uncertainties in vehicle dynamics and driver bioimpendance are issued and for a given target coupling dynamics between driver and vehicle the design task is converted to a model-matching problem. H∞ techniques and active observer algorithms are used to design the steer-by-wire controller. Robustness issues at both levels are covered by mapping stability bounds in the space of physical uncertain parameters.

Item URL in elib:https://elib.dlr.de/19971/
Document Type:Article
Title:Robust Control for Steer-by-Wire Vehicles
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bajcinca, NaimUNSPECIFIEDUNSPECIFIED
Cortesao, RuiUNSPECIFIEDUNSPECIFIED
Hauschild, MarkusUNSPECIFIEDUNSPECIFIED
Date:5 August 2005
Journal or Publication Title:Autonomous Robots
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:19
Page Range:pp. 193-214
Publisher:Springer Science + Business Media, Inc. Manufactured in The Netherlands
Status:Published
Keywords:steer-by-wire, robust control, force control, inverse disturbance observer, active observer, model-matching, robustness analysis
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - MetroFa (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > System Dynamics and Control (former Control Design Engineering)
Deposited By: Jaschinski, Astrid
Deposited On:20 Sep 2007
Last Modified:31 Jul 2019 19:16

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