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Implementation and Development of an Adaptive Steering-Control System

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4 Author(s)
Cetin, A.E. ; Kale Altinay Robotik ve Otomasyon, Istanbul, Turkey ; Adli, M.A. ; Barkana, D.E. ; Kucuk, H.

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.

Published in:

Vehicular Technology, IEEE Transactions on  (Volume:59 ,  Issue: 1 )