Definition of a methodology to adapt a model of steering assistance and its experimental validation

Valentina Ciarla (1) , Carlos Canudas de Wit (1) , Jonathan Dumon (2) , Franck Quaine (3) , Violaine Cahouet (3)

1 NECS - Networked Controlled Systems
2 GIPSA-Services - GIPSA-Services
3 GIPSA-SAIGA - GIPSA - Signal et Automatique pour la surveillance, le diagnostic et la biomécanique

This document is a preliminary version of the working report concerning the work packages 5.3 and 5.4 of the project VolHand 09 VTT 14, that are in charge to the Gipsa-Lab. In this working report, authors introduce the general architecture used to simulate the Electronic Power Steering (EPS) system. In this rst part, the models, the controller and the observer used for the simulation are introduced. Then, the methodology used to adapt the model to a driver with reduced mobility is described in detail. Finally, the experimental validation of this general architecture is proposed. Section 2 refers to the work-package Gipsa-Comp. Section 3 concerns the work-package Gipsa-Obs. Section 4 is dedicated to the work-package Gipsa-Booster. The work-package Gipsa-Tune is under development.

Domaines: Automatique / Robotique

Valentina Ciarla, Carlos Canudas de Wit, Jonathan Dumon, Franck Quaine, Violaine Cahouet. Definition of a methodology to adapt a model of steering assistance and its experimental validation. [Research Report] GIPSA-lab. 2013. ⟨hal-00797633v2⟩