@article{(Open Science Index):https://publications.waset.org/pdf/10002076, title = {Friction Estimation and Compensation for Steering Angle Control for Highly Automated Driving}, author = {Marcus Walter and Norbert Nitzsche and Dirk Odenthal and Steffen M¨uller}, country = {}, institution = {}, abstract = {This contribution presents a friction estimator for industrial purposes which identifies Coulomb friction in a steering system. The estimator only needs a few, usually known, steering system parameters. Friction occurs on almost every mechanical system and has a negative influence on high-precision position control. This is demonstrated on a steering angle controller for highly automated driving. In this steering system the friction induces limit cycles which cause oscillating vehicle movement when the vehicle follows a given reference trajectory. When compensating the friction with the introduced estimator, limit cycles can be suppressed. This is demonstrated by measurements in a series vehicle.}, journal = {International Journal of Mechanical and Mechatronics Engineering}, volume = {9}, number = {6}, year = {2015}, pages = {1131 - 1135}, ee = {https://publications.waset.org/pdf/10002076}, url = {https://publications.waset.org/vol/102}, bibsource = {https://publications.waset.org/}, issn = {eISSN: 1307-6892}, publisher = {World Academy of Science, Engineering and Technology}, index = {Open Science Index 102, 2015}, }