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Stabilization of a Steer-by-Wire Vehicle at the Limits of Handling Using Feedback Linearization

[+] Author Affiliations
Yung-Hsiang (Judy) Hsu, J. Christian Gerdes

Stanford University

Paper No. IMECE2005-81203, pp. 483-492; 10 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME


As a vehicle approaches the limits of handling (the operating region defined by the peak lateral tire force), the vehicle response may be oscillatory or unstable. This paper develops a control system to allow the driver to approach the limits of handling safely. The control algorithm uses a new method that applies recent advances in vehicle sensing to estimate tire cornering stiffness and coefficient of friction in real-time. The controller employs state feedback linearization to cancel nonlinearities in the system using steer-by-wire steering inputs. Once the lateral force surpasses a threshold value, the driver steering input is saturated to keep the vehicle in the linearizable handling region and to alert the driver of approaching limits. Simulation results and preliminary experimental work performed on a steer-by-wire research vehicle demonstrate the potential benefits of this control system.

Copyright © 2005 by ASME
Topics: Wire , Vehicles , Feedback



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