Journal article
Robust control of a vehicle steer-by-wire system using adaptive sliding mode
IEEE Transactions on Industrial Electronics, Vol.63(4), pp.2251-2262
2015
Abstract
This paper presents an adaptive sliding-mode (ASM) control methodology for a vehicle steer-by-wire (SbW) system. First, the SbW system is modeled as a second-order system from the steering motor input voltage to the front-wheel steering angle. For simplicity, the self-aligning torque and friction arising from the tire-to-ground contact are regarded as external disturbance acting on the SbW system. Next, an ASM controller is designed for the SbW system, which can not only cope with the parametric uncertainties in the plant model but also estimate the coefficient of the self-aligning torque effectively. The stability of the ASM control system is proved in the sense of Lyapunov and the guidelines for selecting the control parameters are given. Finally, experiments are carried out for steering control to respectively follow a slalom path and a circular path under various road conditions. It is shown that the proposed ASM controller can achieve stronger robustness against various road conditions leading to significantly smaller tracking errors in comparison with a conventional sliding-mode controller and a linear H ∞ controller.
Details
- Title
- Robust control of a vehicle steer-by-wire system using adaptive sliding mode
- Authors/Creators
- Z. Sun (Author/Creator) - Swinburne University of TechnologyJ. Zheng (Author/Creator) - Swinburne University of TechnologyZ. Man (Author/Creator) - Swinburne University of TechnologyH. Wang (Author/Creator) - Hefei University of Technology
- Publication Details
- IEEE Transactions on Industrial Electronics, Vol.63(4), pp.2251-2262
- Publisher
- IEEE
- Identifiers
- 991005540950207891
- Copyright
- © 2015 IEEE
- Murdoch Affiliation
- Murdoch University
- Language
- English
- Resource Type
- Journal article
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- Domestic collaboration
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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
- Engineering, Electrical & Electronic
- Instruments & Instrumentation
- ESI research areas
- Engineering