Force Feedback Control based on VGSTA for Single Track Riding Simulator

Lamri Nehaoua (1) , Hichem Arioui (1) , Leonid Fridman (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 Department of Postgraduate Study National Autonomous University of Mexico

A direct application of the variable-gain super-twisting algorithm (VGSTA) is implemented for torque feedback on a handlebar of a riding simulator. This control strategy aims to compensate perturbations changing with the system states. Thanks to the good tracking performance and robustness/insensitiveness of such a control method, a precise estimation of the rider's torque applied on the riding simulator handlebar is possible. A first-order sliding-mode observer with stabilization is designed for the estimation of the unknown input rider action. Experimental implementation and analysis are provided to point-out the effectiveness of the proposed approach.

Mots clés: Rider Torque Estimation; Driving Simulator; Sliding Mode Observer; Robust Control

Domaines: Automatique / Robotique

Lamri Nehaoua, Hichem Arioui, Leonid Fridman. Force Feedback Control based on VGSTA for Single Track Riding Simulator. 50th IEEE Conference on Decision and Control and European Control Conference, (CDC-ECC 2011), Dec 2011, Orlando, FL, United States. pp.8243--8248, ⟨10.1109/CDC.2011.6161063⟩. ⟨hal-00616650⟩