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- W3197228180 abstract "The closed-loop electric power-assisted steering and steer-by-wire systems are <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>non-transparent</i> toward the environment, i.e., the tire–road interaction dynamics. To achieve driver–environment <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>transparency</i> , a rack force estimate is required. With the introduction of dynamic rack force observer feedback, a closed-loop interconnection is formed. Therefore, the driver coupled stability must be ensured with this interconnection. Consequently, an upper bound condition on transparency is derived using <italic xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>passivity</i> for different control architectures. For selecting an observer with reasonable performance, two rack-force estimation schemes are investigated and compared, i.e., using vehicle motion signals from the inertial measurement unit sensor and the steering system sensors. Experiments indicate that the former approach has inferior performance due to vehicle inertia and signal latency, whereas in the latter approach, nonlinear estimation using second-order dynamics provides the best result; hence, it is selected to realize transparency. Finally, real-world experiments on an electric power-assisted steering vehicle illustrate the differences between non-transparent and transparent steering feedback when driving at the limits of handling on an icy road surface." @default.
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- W3197228180 date "2022-10-01" @default.
- W3197228180 modified "2023-10-04" @default.
- W3197228180 title "Steering Feedback Transparency Using Rack Force Observer" @default.
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- W3197228180 doi "https://doi.org/10.1109/tmech.2022.3144245" @default.
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