Implementation and Development of an Adaptive Steering-Control System

Cetin A. E., Adli M. A., Barkana D. E., KÜÇÜK H.

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, vol.59, no.1, pp.75-83, 2010 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 59 Issue: 1
  • Publication Date: 2010
  • Doi Number: 10.1109/tvt.2009.2033074
  • Journal Name: IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.75-83
  • Keywords: Adaptive control, compliance control, steering systems, system identification, vehicle dynamics
  • Gazi University Affiliated: No

Abstract

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.