Journal article
Robust control for steer-by-wire systems with partially known dynamics
IEEE Transactions on Industrial Informatics, Vol.10(4), pp.2003-2015
2014
Abstract
In this paper, a robust control scheme (RCS) for Steer-by-Wire (SbW) systems with partially known dynamics is proposed. It is shown that an SbW system can be represented by a nominal model and an unknown portion. A nominal feedback controller can then be used to stabilize the nominal model and a sliding mode compensator (SMC) is designed to remove the effects of both the unknown system dynamics and uncertain road conditions on the steering performance. For practical consideration, robust exact differentiator (RED) technique is utilized to estimate the derivatives of the position signals for controller design. It is further shown that the designed RCS is able to guarantee a robust steering performance against system and road uncertainties. The comparative experimental studies are given to verify the excellent performance of the proposed RCS for SbW systems.
Details
- Title
- Robust control for steer-by-wire systems with partially known dynamics
- Authors/Creators
- H. Wang (Author/Creator) - Swinburne University of TechnologyZ. Man (Author/Creator) - Swinburne University of TechnologyW. Shen (Author/Creator) - Swinburne University of TechnologyZ. Cao (Author/Creator) - Swinburne University of TechnologyJ. Zheng (Author/Creator) - Swinburne University of TechnologyJ. Jin (Author/Creator) - Swinburne University of TechnologyM.T. Do (Author/Creator)
- Publication Details
- IEEE Transactions on Industrial Informatics, Vol.10(4), pp.2003-2015
- Publisher
- IEEE
- Identifiers
- 991005540591407891
- Copyright
- © 2014 IEEE
- Murdoch Affiliation
- Murdoch University
- Language
- English
- Resource Type
- Journal article
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- Citation topics
- 4 Electrical Engineering, Electronics & Computer Science
- 4.29 Automation & Control Systems
- 4.29.1251 Vehicle Dynamics Control
- Web Of Science research areas
- Automation & Control Systems
- Computer Science, Interdisciplinary Applications
- Engineering, Industrial
- ESI research areas
- Engineering