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Mathematical Problems in Engineering
Volume 2014, Article ID 981276, 14 pages
Research Article

A Vehicle Haptic Steering by Wire System Based on High Gain GPI Observers

1Center for Research and Advanced Studies (CINVESTAV-IPN), Electrical Engineering Department, Mechatronics Group, Avenida IPN, No. 2508, Col. San Pedro Zacatenco, 07630 Mexico City, DF, Mexico
2Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands

Received 12 November 2013; Accepted 31 March 2014; Published 30 June 2014

Academic Editor: Ilse Cervantes

Copyright © 2014 A. Rodriguez-Angeles et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A vehicle steering by wire (SBW) haptic system based on high gain generalized proportional integral (GPI) observers is introduced. The observers are considered for the estimation of dynamic perturbations that are present at the tire and steering wheel. To ensure efficient tracking between the commanded steering wheel angle and the tire orientation angle, the estimated perturbations are on line canceled. As to provide a haptic interface with the driver, the estimated dynamic effects at the steering rack are fed back to the steering wheel, yielding a master-slave haptic system with bilateral communication. For implementation purposes few sensors and minimum knowledge of the dynamic model are required, which is a major advantage compared to other approaches. Only position tracking errors are fed back, while all other signals are estimated by the high gain GPI observers. The scheme is robust to uncertainty on the input gain and cancels dynamic perturbation effects such as friction and aligning forces on the tire. Experimental results are presented on a prototype platform.