TY - GEN
T1 - A new reference model for steer-by-wire applications with embedded vehicle dynamics
AU - Coudon, Julien
AU - Canudas-De-Wit, Carlos
AU - Claeys, Xavier
PY - 2006/1/1
Y1 - 2006/1/1
N2 - We propose a new a reference model for Steer-by-Wire applications. The model accounts for force reflection and vehicle dynamics interaction. In particular, a Bicycle model including the front axle kinematic and lateral contact forces, are explicitly accounted during the model tuning. The model is completed with a virtual feedback force, designed from an optimal feedback control loop, that aims at imposing a particular steering behavior improving the vehicle handling characteristics. This results in a model that is (vehicle) velocity dependent with good stability properties. The model keeps such good properties even in presence of unmodelled tire-road dynamics, and under certain parameter variation.
AB - We propose a new a reference model for Steer-by-Wire applications. The model accounts for force reflection and vehicle dynamics interaction. In particular, a Bicycle model including the front axle kinematic and lateral contact forces, are explicitly accounted during the model tuning. The model is completed with a virtual feedback force, designed from an optimal feedback control loop, that aims at imposing a particular steering behavior improving the vehicle handling characteristics. This results in a model that is (vehicle) velocity dependent with good stability properties. The model keeps such good properties even in presence of unmodelled tire-road dynamics, and under certain parameter variation.
KW - Steer-by-wire systems
KW - Vehicle control
U2 - 10.1109/acc.2006.1657342
DO - 10.1109/acc.2006.1657342
M3 - Conference contribution
AN - SCOPUS:34047204961
SN - 1424402107
SN - 9781424402106
T3 - Proceedings of the American Control Conference
SP - 3990
EP - 3995
BT - Proceedings of the 2006 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2006 American Control Conference, ACC 2006
Y2 - 14 June 2006 through 16 June 2006
ER -