Journal article
Sliding mode control for steer-by-wire systems with AC motors in road vehicles
IEEE Transactions on Industrial Electronics, Vol.61(3), pp.1596-1611
2014
Abstract
In this paper, the modeling of steer-by-wire (SbW) systems is further studied, and a sliding mode control scheme for the SbW systems with uncertain dynamics is developed. It is shown that an SbW system, from the steering motor to the steered front wheels, is equivalent to a second-order system. A sliding mode controller can then be designed based on the bound information of uncertain system parameters, uncertain self-aligning torque, and uncertain torque pulsation disturbances, in the sense that not only the strong robustness with respect to large and nonlinear system uncertainties can be obtained but also the front-wheel steering angle can converge to the handwheel reference angle asymptotically. Both the simulation and experimental results are presented in support of the excellent performance and effectiveness of the proposed scheme.
Details
- Title
- Sliding mode control for steer-by-wire systems with AC motors in road vehicles
- Authors/Creators
- H. Wang (Author/Creator)H. Kong (Author/Creator)Z. Man (Author/Creator)M.T. Do (Author/Creator)Z. Cao (Author/Creator)W. Shen (Author/Creator)
- Publication Details
- IEEE Transactions on Industrial Electronics, Vol.61(3), pp.1596-1611
- Publisher
- IEEE
- Identifiers
- 991005540868807891
- 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
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- Automation & Control Systems
- Engineering, Electrical & Electronic
- Instruments & Instrumentation
- ESI research areas
- Engineering