Journal article
Robust sliding mode-based learning control for Steer-by-Wire systems in modern vehicles
IEEE Transactions on Vehicular Technology, Vol.63(2), pp.580-590
2014
Abstract
In this paper, a robust sliding mode learning control (SMLC) scheme is developed for steer-by-wire (SbW) systems. It is shown that an SbW system with uncertain system parameters and unknown external disturbance from the interactions between the tires and the variable road surface can be modeled as a second-order system. A sliding mode learning controller can then be designed to drive both the sliding variable and the tracking error between the steered front-wheel angle and the hand-wheel reference angle to asymptotically converge to zero. The proposed SMLC scheme exhibits many advantages over the existing schemes, including: 1) no information about vehicle parameter uncertainties and self-aligning torque variations is required for controller design; and 2) the control algorithm is capable of efficiently adjusting the closed-loop response based on the most recent history of the closed-loop stability and ensuring a robust steering performance. Both simulations and experiments are presented to show the excellent steering performance and the effectiveness of the proposed learning control methodology.
Details
- Title
- Robust sliding mode-based learning control for Steer-by-Wire systems in modern vehicles
- Authors/Creators
- M.T. Do (Author/Creator) - Swinburne University of TechnologyZ. Man (Author/Creator) - Swinburne University of TechnologyC. Zhang (Author/Creator) - Swinburne University of TechnologyH. Wang (Author/Creator) - Swinburne University of TechnologyF.S. Tay (Author/Creator) - Swinburne University of Technology
- Publication Details
- IEEE Transactions on Vehicular Technology, Vol.63(2), pp.580-590
- Publisher
- IEEE
- Identifiers
- 991005542325707891
- Copyright
- © 2013 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
- Engineering, Electrical & Electronic
- Telecommunications
- Transportation Science & Technology
- ESI research areas
- Engineering