%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