Design of haptic feedback control for Steer-by-Wire

Tushar Chugh, Fredrik Bruzelius, Matthijs Klomp, Barys Shyrokau

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)


This paper illustrates a comparison of different haptic feedback control strategies; primarily focusing on open and closed-loop methods for a Force-Feedback Steer-by-Wire system. Due to shortcomings caused by the feedback motor impedance in the open loop architecture, the tracking performance is deteriorated. Consequently it is shown that the closed-loop solutions provide an improved response within the desired steering excitation range. The closed-loop possibilities, torque and position control, are designed and objectively compared in terms of performance and stability. The controller objectives are inertia compensation and reference tracking. For a given reference, the stability constraint between the controller gains responsible for the two objectives is contrasting in both the methods. Higher bandwidth is achieved for torque controller, whereas the driver arm inertia limits the position control performance. The linear system analysis is supported by the experimental results.

Original languageEnglish
Title of host publicationProceedings 2018 IEEE Intelligent Transportation Systems Conference (ITSC)
EditorsWei-Bin Zhang, Alexandre Bayen
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-7281-0323-5
Publication statusPublished - 2018
Event21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018 - Maui, United States
Duration: 4 Nov 20187 Nov 2018
Conference number: 21


Conference21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018
Abbreviated titleITSC 2018
CountryUnited States
Internet address

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