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Article Automation & Control Systems

Research on the Steering Torque Control for Intelligent Vehicles Co-Driving With the Penalty Factor of Human-Machine Intervention

Jian Wu et al.

Summary: This study proposes an intelligent vehicle human-machine cooperative control method by constructing a driver model and setting a penalty factor to adapt to the varying previewing characteristics of a human. A steering torque controller is designed using gain-scheduling control to effectively alleviate conflicts between the driver and the intelligent driving system.

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2023)

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Article Engineering, Electrical & Electronic

A Novel Adaptive Steering Torque Control Approach for Human-Machine Cooperation Autonomous Vehicles

Jian Wu et al.

Summary: The study proposes an HMC steering torque control method based on MRAC to address disturbances and parameter uncertainties. Using an exponential decay function as a reference model, parameter adaptive laws are designed to improve robustness. The proposed control strategy demonstrates rapid convergence under disturbances and uncertainties introduced by HMC.

IEEE TRANSACTIONS ON TRANSPORTATION ELECTRIFICATION (2021)

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Article Engineering, Mechanical

Attenuation reference model based adaptive speed control tactic for automatic

Jian Wu et al.

Summary: This paper proposes a novel adaptive control strategy to regulate the steering speed of automatic steering system. By introducing an exponential decay function, estimating disturbance boundaries, and verifying stability, the system's response speed and control accuracy are improved, ensuring stability in uncertain conditions.

MECHANICAL SYSTEMS AND SIGNAL PROCESSING (2021)

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Article Robotics