Variable-gear-ratio steering, also known as active steering, is an advanced steering technology which enhances the driver’s comfort and vehicle operability. However, one big problem, namely the unnatural reaction torque created by the variable actuator, restricts the further practical-use of the variable-gear-ratio steering. This paper proposes a control method to cancel the unnatural torque using a simple concept called friction relocation. Effectiveness of the method is experimentally confirmed using a hardware-in-the-loop simulator.

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