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Force Feedback Control based on VGSTA for Single Track Riding Simulator

Abstract : A direct application of the variable-gain super-twisting algorithm (VGSTA) is implemented for torque feedback on a handlebar of a riding simulator. This control strategy aims to compensate perturbations changing with the system states. Thanks to the good tracking performance and robustness/insensitiveness of such a control method, a precise estimation of the rider's torque applied on the riding simulator handlebar is possible. A first-order sliding-mode observer with stabilization is designed for the estimation of the unknown input rider action. Experimental implementation and analysis are provided to point-out the effectiveness of the proposed approach.
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https://hal.archives-ouvertes.fr/hal-00616650
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Submitted on : Tuesday, August 23, 2011 - 3:55:42 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:07 AM
Long-term archiving on: : Friday, November 25, 2011 - 12:01:39 PM

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Lamri Nehaoua, Hichem Arioui, Leonid Fridman. Force Feedback Control based on VGSTA for Single Track Riding Simulator. 50th IEEE Conference on Decision and Control and European Control Conference, (CDC-ECC 2011), Dec 2011, Orlando, FL, United States. pp.8243--8248, ⟨10.1109/CDC.2011.6161063⟩. ⟨hal-00616650⟩

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