Implementation and Development of an Adaptive Steering-Control System


Cetin A. E. , Adli M. A. , EROL BARKANA D., KÜÇÜK H.

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, cilt.59, ss.75-83, 2010 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 59 Konu: 1
  • Basım Tarihi: 2010
  • Doi Numarası: 10.1109/tvt.2009.2033074
  • Dergi Adı: IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
  • Sayfa Sayıları: ss.75-83

Özet

In this paper, an adaptive steering-control system for a steer-by-wire system, which consists of a vehicle directional-control unit and a driver-interaction unit, is developed. The adaptive online estimation method is used to identify the dynamic parameters of the vehicle directional-control and driver-interaction units. A nonlinear 4-degree-of-freedom (DOF) vehicle model, including the longitudinal, lateral, yaw, and quasi-static roll motions, is derived using Newtonian mechanics to simulate and test the adaptive steering-control system. Experimental results are performed to demonstrate the efficacy of the proposed adaptive steering-control system.