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-impedance. At the operational level, the robustness aspects vs. parameter uncertainties in vehicle dynamics and driver bio-impedance are issued and for a given target coupling dynamics between driver and vehicle the design task is converted to a model-matching problem. H infinity 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.


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    Title :

    Robust control for steer-by-wire vehicles


    Additional title:

    Robuste Regelung für Fahrzeuge mit einer Steer-by-wire-Steuerung


    Contributors:
    Bajcinca, N. (author) / Cortesao, R. (author) / Hauschild, M. (author)

    Published in:

    Autonomous Robots ; 19 , 2 ; 193-214


    Publication date :

    2005


    Size :

    22 Seiten, 12 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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