Design of haptic feedback control for Steer-by-Wire

Tushar Chugh; Fredrik Bruzelius; Matthijs Klomp; Barys Shyrokau

doi:10.1109/ITSC.2018.8569795

Design of haptic feedback control for Steer-by-Wire

Tushar Chugh, Fredrik Bruzelius, Matthijs Klomp, Barys Shyrokau

Intelligent Vehicles

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

4 Citations (Scopus)

134 Downloads (Pure)

Abstract

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 language	English
Title of host publication	Proceedings 2018 IEEE Intelligent Transportation Systems Conference (ITSC)
Editors	Wei-Bin Zhang, Alexandre Bayen
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	1737-1744
ISBN (Electronic)	978-1-7281-0323-5
DOIs	https://doi.org/10.1109/ITSC.2018.8569795
Publication status	Published - 2018
Event	21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018 - Maui, United States Duration: 4 Nov 2018 → 7 Nov 2018 Conference number: 21 https://www.ieee-itsc2018.org/

Conference

Conference	21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018
Abbreviated title	ITSC 2018
Country/Territory	United States
City	Maui
Period	4/11/18 → 7/11/18
Internet address	https://www.ieee-itsc2018.org/

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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08569795Final published version, 1.08 MB

Cite this

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title = "Design of haptic feedback control for Steer-by-Wire",

abstract = "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.",

author = "Tushar Chugh and Fredrik Bruzelius and Matthijs Klomp and Barys Shyrokau",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018, ITSC 2018 ; Conference date: 04-11-2018 Through 07-11-2018",

year = "2018",

doi = "10.1109/ITSC.2018.8569795",

language = "English",

pages = "1737--1744",

editor = "Zhang, {Wei-Bin } and Bayen, {Alexandre }",

booktitle = "Proceedings 2018 IEEE Intelligent Transportation Systems Conference (ITSC)",

publisher = "IEEE",

address = "United States",

url = "https://www.ieee-itsc2018.org/",

}

Chugh, T, Bruzelius, F, Klomp, M & Shyrokau, B 2018, Design of haptic feedback control for Steer-by-Wire. in W-B Zhang & A Bayen (eds), Proceedings 2018 IEEE Intelligent Transportation Systems Conference (ITSC)., 8569795, IEEE, Piscataway, NJ, USA, pp. 1737-1744, 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018, Maui, United States, 4/11/18. https://doi.org/10.1109/ITSC.2018.8569795

Design of haptic feedback control for Steer-by-Wire. / Chugh, Tushar; Bruzelius, Fredrik; Klomp, Matthijs et al.
Proceedings 2018 IEEE Intelligent Transportation Systems Conference (ITSC). ed. / Wei-Bin Zhang; Alexandre Bayen. Piscataway, NJ, USA: IEEE, 2018. p. 1737-1744 8569795.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Design of haptic feedback control for Steer-by-Wire

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AU - Bruzelius, Fredrik

AU - Klomp, Matthijs

AU - Shyrokau, Barys

N1 - Conference code: 21

PY - 2018

Y1 - 2018

N2 - 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.

AB - 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.

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BT - Proceedings 2018 IEEE Intelligent Transportation Systems Conference (ITSC)

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T2 - 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018

Y2 - 4 November 2018 through 7 November 2018

ER -

Design of haptic feedback control for Steer-by-Wire

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