@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},