{"id":"https://openalex.org/W137030921","doi":"https://doi.org/10.1109/tcst.2015.2483561","title":"Friction Compensation Control for Power Steering","display_name":"Friction Compensation Control for Power Steering","publication_year":2015,"publication_date":"2015-10-16","ids":{"openalex":"https://openalex.org/W137030921","doi":"https://doi.org/10.1109/tcst.2015.2483561","mag":"137030921"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2015.2483561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2483561","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/203258","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029914585","display_name":"Fr\u00e9d\u00e9ric Wilhelm","orcid":null},"institutions":[{"id":"https://openalex.org/I4210097564","display_name":"JTEKT (Japan)","ror":"https://ror.org/00w91z143","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210097564"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Frederic Wilhelm","raw_affiliation_strings":["Research and Development Center, JTEKT Corporation, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Research and Development Center, JTEKT Corporation, Nara, Japan","institution_ids":["https://openalex.org/I4210097564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037408524","display_name":"Tsutomu Tamura","orcid":null},"institutions":[{"id":"https://openalex.org/I4210097564","display_name":"JTEKT (Japan)","ror":"https://ror.org/00w91z143","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210097564"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsutomu Tamura","raw_affiliation_strings":["Research and Development Center, JTEKT Corporation, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Research and Development Center, JTEKT Corporation, Nara, Japan","institution_ids":["https://openalex.org/I4210097564"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081077877","display_name":"Robert Fuchs","orcid":"https://orcid.org/0000-0002-6280-4261"},"institutions":[{"id":"https://openalex.org/I4210097564","display_name":"JTEKT (Japan)","ror":"https://ror.org/00w91z143","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210097564"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Robert Fuchs","raw_affiliation_strings":["Research and Development Center, JTEKT Corporation, Nara, Japan"],"affiliations":[{"raw_affiliation_string":"Research and Development Center, JTEKT Corporation, Nara, Japan","institution_ids":["https://openalex.org/I4210097564"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017722714","display_name":"Ph. M\u00fcllhaupt","orcid":"https://orcid.org/0000-0001-8835-6519"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Philippe Mullhaupt","raw_affiliation_strings":["Laboratoire d\u2019Automatique and the Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratoire d\u2019Automatique and the Biorobotics Laboratory, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5029914585"],"corresponding_institution_ids":["https://openalex.org/I4210097564"],"apc_list":null,"apc_paid":null,"fwci":4.3957,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.9399005,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"24","issue":"4","first_page":"1354","last_page":"1367"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10808","display_name":"Electric and Hybrid Vehicle Technologies","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7313453555107117},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5428116917610168},{"id":"https://openalex.org/keywords/power-steering","display_name":"Power steering","score":0.5421439409255981},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4896238446235657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4575805068016052},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.45170533657073975},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.4507191777229309},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.445436954498291},{"id":"https://openalex.org/keywords/internal-model","display_name":"Internal model","score":0.4431784152984619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3054674565792084},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.279377281665802},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23556938767433167},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1539078652858734}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7313453555107117},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5428116917610168},{"id":"https://openalex.org/C2778679013","wikidata":"https://www.wikidata.org/wiki/Q1054734","display_name":"Power steering","level":2,"score":0.5421439409255981},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4896238446235657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4575805068016052},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45170533657073975},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.4507191777229309},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.445436954498291},{"id":"https://openalex.org/C28427503","wikidata":"https://www.wikidata.org/wiki/Q13580300","display_name":"Internal model","level":3,"score":0.4431784152984619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3054674565792084},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.279377281665802},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23556938767433167},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1539078652858734},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcst.2015.2483561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2015.2483561","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:203258","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/203258","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:203258","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/203258","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W43887654","https://openalex.org/W83926913","https://openalex.org/W169326478","https://openalex.org/W1499096278","https://openalex.org/W1576328322","https://openalex.org/W1604393832","https://openalex.org/W1897213542","https://openalex.org/W1991446827","https://openalex.org/W2004737039","https://openalex.org/W2033515154","https://openalex.org/W2044959346","https://openalex.org/W2068793240","https://openalex.org/W2073451984","https://openalex.org/W2073556976","https://openalex.org/W2082836362","https://openalex.org/W2086038301","https://openalex.org/W2091351095","https://openalex.org/W2101366447","https://openalex.org/W2102530121","https://openalex.org/W2109551281","https://openalex.org/W2120525031","https://openalex.org/W2129534387","https://openalex.org/W2134116967","https://openalex.org/W2136337335","https://openalex.org/W2153000317","https://openalex.org/W2153220554","https://openalex.org/W2166271005","https://openalex.org/W2168980642","https://openalex.org/W2279470715","https://openalex.org/W2397977796","https://openalex.org/W2525789202","https://openalex.org/W2543891805","https://openalex.org/W3139800817","https://openalex.org/W3151694288","https://openalex.org/W4206469724","https://openalex.org/W6601780936","https://openalex.org/W6603419257","https://openalex.org/W6606863368","https://openalex.org/W6636241748","https://openalex.org/W6684922171","https://openalex.org/W6727348756"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W2020904398","https://openalex.org/W2192101006","https://openalex.org/W2116800748","https://openalex.org/W2190465783","https://openalex.org/W2638730922","https://openalex.org/W2381267592","https://openalex.org/W2027827693","https://openalex.org/W4241033836","https://openalex.org/W3135637940"],"abstract_inverted_index":{"The":[0,99,125,155,197,214,224,242,272],"effects":[1],"of":[2,9,23,29,50,65,91,120,127,139,163,219,231,277,307],"friction":[3,18,59,74,92,112,170,209,230,331],"are":[4,107,281],"critical":[5],"to":[6,20,109,116,188,193,202,261],"the":[7,15,21,24,30,36,42,51,61,66,88,103,111,118,133,140,144,164,205,228,232,239,263,266,269,275,278,289,293,296,308,314,321,327],"dynamics":[8],"electric":[10],"power":[11,134,165],"steering":[12,52,57,141],"(EPS).":[13],"On":[14,35],"one":[16],"hand,":[17,38],"contributes":[19],"stability":[22,273],"system":[25,233],"and":[26,45,63,102,180,207,234,255,268,274,295,325],"filters":[27],"some":[28],"disturbances":[31],"(road":[32],"vibration,":[33],"etc.).":[34],"other":[37],"it":[39,237,285],"negatively":[40],"affects":[41],"driving":[43],"feel":[44],"refrains":[46],"from":[47],"accurate":[48],"positioning":[49],"wheel.":[53],"In":[54,81],"addition,":[55],"for":[56,87,236],"manufacturers,":[58],"hinders":[60],"development":[62],"tuning":[64],"assistance":[67],"strategy.":[68],"Therefore,":[69],"controlling":[70],"or":[71],"eventually":[72],"suppressing":[73],"in":[75,93,114,151,182,319],"EPS":[76,96],"is":[77,97,130,158,186,200,217,286,317],"a":[78,84,94,161,175,183,189,246,252,256],"real":[79],"challenge.":[80],"this":[82,128,173],"paper,":[83],"control":[85,105,157,215,279,315],"strategy":[86,129,280,316],"active":[89],"compensation":[90],"column-assist-type":[95],"presented.":[98],"assist":[100],"motor":[101,240],"electronic":[104],"unit":[106],"used":[108,201,250],"cancel":[110],"effect":[113],"order":[115,191],"imitate":[117],"behavior":[119],"an":[121,152],"ideal":[122],"frictionless":[123,247,322],"system.":[124],"feasibility":[126],"demonstrated":[131],"on":[132,160],"column":[135,166],"(the":[136],"upper":[137],"part":[138],"system)":[142],"using":[143],"same":[145],"information":[146],"(signals)":[147],"as":[148,251],"that":[149,288,313],"available":[150],"actual":[153],"product.":[154],"proposed":[156],"based":[159],"model":[162,192,199,249],"including":[167],"slip-and":[168],"load-dependent":[169],"forces.":[171],"For":[172],"purpose,":[174],"detailed":[176],"simulation":[177],"model,":[178],"developed":[179],"validated":[181],"previous":[184],"work,":[185],"reduced":[187],"lower":[190],"enable":[194],"real-time":[195],"computation.":[196],"LuGre":[198],"compute":[203],"both":[204],"static":[206],"dynamic":[208],"forces":[210],"with":[211,304],"continuous":[212],"formulation.":[213],"architecture":[216],"composed":[218],"two":[220],"cascaded":[221],"feedback":[222],"loops.":[223],"internal":[225,229],"loop":[226,244],"estimates":[227],"compensates":[235],"through":[238],"input.":[241],"external":[243],"contains":[245],"reference":[248,270,297,323],"trajectory":[253],"planner":[254],"linear":[257],"controller,":[258],"which":[259],"attempts":[260],"minimize":[262],"error":[264,291],"between":[265,292],"plant":[267,294],"responses.":[271],"robustness":[276,328],"formally":[282],"analyzed.":[283],"Specifically,":[284],"shown":[287],"limit":[290],"responses":[298],"can":[299],"be":[300],"made":[301],"arbitrarily":[302],"small":[303],"appropriate":[305],"values":[306],"gains.":[309],"Experimental":[310],"results":[311],"demonstrate":[312],"successful":[318],"tracking":[320],"trajectory,":[324],"confirm":[326],"against":[329],"inaccurate":[330],"parameters.":[332]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}