Haptic Steering by Wire based on High Gain GPI Observer - Controller techniques
نویسنده
چکیده
A steering by wired haptic system based on disturbance rejection control techniques is presented. High gain Generalized Proportional Integral (GPI) observers are considered for the estimation of tire and steering wheel dynamic disturbances. These disturbances are on line canceled to ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle. The estimated disturbances at the steering rack are fed back to the steering wheel to provide a haptic interface with the driver. The system can be seen as a master-slave haptic system, where the steering wheel acts as a master system, and the steering rack and tire behave as slave system. The proposed approach requires very few sensors and only the input gain of the systems, which is a major advantage compare to other approaches.
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