Fuminori Ozaki

Bilateral Control for Steer-by-Wire Vehicles

Steer-by-wire system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability, as well as to autonomous steering control to assist the driver. Conventional controller for SBW system is designed by general feedback control method. However, driver can not exactly feel reaction torque generated from tire. And SBW system has another important problem about fault tolerant function. In this paper, we propose the bilateral control method based on the disturbance observer to improve steering feeling and the design of the sensor fault detection for SBW vehicles using sliding mode observer

Control of steering-by-wire system using bilateral control scheme with passivity approach

Steer-by-wire system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability, and besides, is applied to autonomous steering control to assist the driver. Conventional controller for SBW system is designed by general feedback control method. However, driver can not exactly feel reaction torque generated from tire. In this paper, the goals are considered as following two points. One is a reproduction of environmental impedance in steering wheel. The other is improved maneuverability for SBW system. Moreover, control stability must be satisfied. This paper, first, review general bilateral control scheme using disturbance observer. Secondly, this paper proposes a novel bilateral control scheme with passive approach. We also study performance of the proposed control scheme and compare with general bilateral control scheme. The effectiveness of this research is demonstrated by experiment with electronic vehicle.

Control of Steer-by-Wire Vehicles with Passivity Approach

Abstract Steer-by-wire system (SBW), in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability. And SBW is applied to autonomous steering control to assist the driver. Conventional controller for SBW system is designed by general feedback control method. However, in this method, the driver cannot exactly feel the reaction torque generated from tire about road friction. And the stability of control system cannot guarantee in spite of highly variable human operators and environment dynamics. The goals of this paper are considered as follow: The one is a reproduction of environmental impedance in steering wheel. The other is the improved maneuverability for SBW system. Moreover, the stability of control system must be satisfied. This paper, first, reviews bilateral control scheme using disturbance observer proposed by us. Secondly, this paper proposes a novel bilateral control scheme with passive approach. We also examine the performance of the proposed control scheme and compare with bilateral control scheme using disturbance observer. The effectiveness of proposed method is demonstrated by experiment with electronic vehicle.

Design of steer-by-wire system with bilateral control method using disturbance observer

Steer-by-wire system, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability, as well as to autonomous steering control to assist the driver. Conventional controller for SBW system is designed by general feedback control method. However, driver can not exactly feel reaction torque generated from tire. In this paper, the goals are considered as following two points. One is a reproduction of environmental impedance in steering wheel. The other is improved maneuverability for SBW system. Moreover, control stability must be satisfied. Using disturbance observer, bilateral controller is designed. Through analysis, it is confirmed that the three desired conditions in SBW system are well satisfied with this controller. The effectiveness of this research is demonstrated by experiment.