Methods and apparatus for controlling steering nibble in position controlled steering systems

A method comprising:

• determining, by executing one or more instructions via a controller, actuator angle data based on steering wheel angle data associated with a steering wheel of a position controlled steering system;
• determining nibble control angle data by executing one or more instructions via the controller in connection with implementing a nibble control process, wherein implementing the nibble control process includes;
• determining wheel frequency data based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system;
• determining gain data by applying a gain scheduler to the wheel frequency data;
• and
• applying the gain data to the steering wheel angle data to produce scaled steering wheel angle data, wherein the nibble control angle data is based on the scaled steering wheel angle data;
• determining, by executing one or more instructions via the controller, adjusted actuator angle data based on the actuator angle data and the nibble control angle data;
• and
• generating, by executing one or more instructions via the controller, a control signal based on the adjusted actuator angle data to apply a torque via an actuator of the position controlled steering system.

A non-transitory machine-readable storage medium comprising instructions that, when executed, cause a controller to at least:

• determine actuator angle data based on steering wheel angle data associated with a steering wheel of a position controlled steering system;
• determine nibble control angle data in connection with implementing a nibble control process, wherein the instructions, when executed, cause the controller, in connection with the nibble control process, to:
• determine wheel frequency data based on detected wheel speed data or detected vehicle speed data associated with the position controlled steering system;
• determine gain data by applying a gain scheduler to the wheel frequency data;
• and
• apply the gain data to the steering wheel angle data to produce scaled steering wheel angle data, wherein the nibble control angle data is based on the scaled steering wheel angle data;
• determine adjusted actuator angle data based on the actuator angle data and the nibble control angle data;
• and
• generate a control signal based on the adjusted actuator angle data to apply a torque via an actuator of the position controlled steering system.