%0 Journal Article %A Marcus Walter and Norbert Nitzsche and Dirk Odenthal and Steffen M¨uller %D 2015 %J International Journal of Mechanical and Mechatronics Engineering %B World Academy of Science, Engineering and Technology %I Open Science Index 102, 2015 %T Friction Estimation and Compensation for Steering Angle Control for Highly Automated Driving %U https://publications.waset.org/pdf/10002076 %V 102 %X 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. %P 1131 - 1135