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In this paper a nonlinear control algorithm of a planar parallel robot with a redundant actuator configuration will be derived, based on exact linearization techniques. This controller achieves apart from standard degree of freedom decoupling and stabilization of the robot dynamics additional desired overconstraint control of the redundant actuators. This result has been achieved by suitably extending the output vector of the robot and by including an orthogonality relation into the controller design. Computer simulations prove the validity of this control concept.

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Active Front Steering (AFS) is a newly developed technology for passenger cars that realises an electronically controlled superposition of an angle to the hand steering wheel angle that is prescribed by the driver. It enables functionalities such as (vehicle velocity) variable steering ratio, steering lead, as well as it provides an interface to support vehicle dynamics control systems. This paper focuses on application dependent safety functions and steering assistance functions. All functions described are model based, their accuracy is demonstrated.