Gain Scheduled Active Steering Control Based on a Parametric Bicycle Model

Başlamışlı, S. Çağlar; Polat, Ilhan; Köse, İ. Emre

doi:10.1109/ivs.2007.4290276

Cited by 26 publications

(19 citation statements)

References 6 publications

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“…The reason that SBW system is superior to the traditional mechanical steering is the use of two DC motors to replace mechanical connecting parts, the method of improving the steering characteristic is applying the modern electronic control technology to design the force transmission ratio or the angular transmission ratio, so as to improve the operation stability of the forklift [4,20].…”

Section: A the Ideal Angular Transmission Ratio Of Sbwmentioning

confidence: 99%

Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

Liu¹,

Xiao²

2016

IJISA

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Abstract-In this paper, according to the structure characteristics of steer-by-wire (SBW) system for the TFC20 electric forklift, steering dynamics model and two degree of freedom vehicle model are deduced for SBW fo rklift. Aiming at the free design features of the angular transmission characteristics in the SBW system of electric forklift, the theory of active steering control strategy is studied. After analyzing the influence factors of the angular trans mission ratio of the steering system, the ideal angular transmission ratio is proposed, which is based on the yaw rate gain invariance. Also, the control strategy of the yaw rate feedback and the full state feedback is studied. The simu lation results show that the above strategy is effective for the act ive steering control; it can imp rove the operating stability and the response speed of the for klift.Index Terms-Electric forklift, full state feedback, ideal transmission ratio, modeling, steer-by-wire, yaw rate feedback.

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Section: A the Ideal Angular Transmission Ratio Of Sbwmentioning

confidence: 99%

Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

Liu¹,

Xiao²

2016

IJISA

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“…Also, a vehicle guidance controller has been adapted using a form of MRAC (Hessburg, 1995). There has also been a gain scheduling approach to active steering using a form of the bicycle model (Baslamish, 2007).…”

Section: Related Workmentioning

confidence: 99%

Adaptive steering control of a farm tractor with varying yaw rate properties

Derrick

Bevly

2009

Journal of Field Robotics

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This paper presents a novel application of a model reference adaptive control (MRAC) system to control the lateral position of a farm tractor tracking a straight path. Farm tractors can be configured with various implements, and the tractor yaw rate dynamics vary with each implement. It is desired that the lateral position response of the farm tractor remain consistent with respect to different implement configurations. Therefore, a MRAC system is implemented on the farm tractor to compensate for yaw rate plant variations by adapting the feed-forward yaw rate controller. Simulation results of the algorithm are shown that display poor performance due to neglected steering actuator dynamics and saturation. Modifications are made to the algorithm to account for the steering actuator properties, and more simulated results are presented that display ideal performance. Finally, the MRAC algorithm is implemented on a John Deere 8420 farm tractor, and experimental results are presented. C 2009 Wiley Periodicals, Inc.

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“…All these technologies modify the vehicle dynamics imposing forces or moments to the vehicle body, which can be generated in different ways (see e.g. Burgio and Zegelaar, 2006;Karbalaei et al, 2007;Baslamisli et al, 2007;Ackermann et al, 1995;Malan et al, 1994). An important design factor to be considered in the standalone or integrated controller design is the actuator saturations, which limits the maximum obtainable performance.…”

Section: Introductionmentioning

confidence: 99%

“…In Baslamisli et al (2007), an active steering control design method is proposed in order to preserve vehicle stability in extreme handling situations. Active chassis control systems, guaranteeing the stability performance in the presence of parameter uncertainty/variation, can be found in Ackermann et al (1995) and Malan et al (1994), where issues on robustness of active steering systems are addressed.…”

Section: Introductionmentioning

confidence: 99%

Adaptive integrated vehicle control using active front steering and rear torque vectoring

Bianchi

Borri

Burgio

et al. 2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

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This work studies the combination of active front steering with rear torque vectoring actuators in an integrated controller to guarantee vehicle stability. Adaptive feedback technique has been used to design the controller. The feedback linearization is applied to cancel the nonlinearities in the input-output dynamics of the vehicle. Parameter adaptation then is used to robustify the exact cancellation of the nonlinear terms. The results show tracking and stabilization capabilities when important parameters, like tire stiffness and tire characteristics, are affected by estimation errors.

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Gain Scheduled Active Steering Control Based on a Parametric Bicycle Model

Cited by 26 publications

References 6 publications

Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

Adaptive steering control of a farm tractor with varying yaw rate properties

Adaptive integrated vehicle control using active front steering and rear torque vectoring

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