A fault-tolerant steer-by-wire system based on angular position estimation

Aiming at the vehicle stability and safety problems caused by the actuator failure of Steer-By-Wire (SBW) system, a two-layer control strategy combining the Performance-Preserving Robust Control (PPRC) and Adaptive Fault-Tolerant Control (AFTC) using the Linear Matrix Inequality (LMI) processing is proposed. The PPRC of the SBW system by tracking the ideal reference model is the first layer of control, the vehicle is robust to speed and low failure rate defects of the SBW system actuator within the performance range of the SBW system, and the side slip angle ([Formula: see text]) and yaw rate ([Formula: see text]) of the vehicle can approach optimal values; The second layer of control: AFTC is added to the above PPRC based on the online estimation of the final failure, when a high failure rate failure in the actuator of the SBW system occurs and the performance limit of the PPRC is exceeded, this allows the vehicle state in the high failure rate failure mode of the actuator to still track the specified ideal reference state. Compared with the traditional Fault-Tolerant Control (FTC) that requires Fault Detection and Isolation (FDI), the control method used in this paper does not require accurate fault information, but only uses the system state change generated by the fault as the information to automatically adjust the control input, which can still achieve the purpose of stabilizing the whole SBW system when the actuator fails.

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Combining finite-time control and prescribed tracking performance for uncertain PMSM driven steer-by-wire system with unknown disturbance

Liu,

Zhang,

Wang

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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To solve the uncertainties in permanent magnet synchronous motor (PMSM) driven steer-by-wire (SbW) system, a prescribed-performance-control (PPC) based finite-time fuzzy controller is proposed. Specifically, the dynamics of SbW system driven by PMSM is analyzed, and combine PPC technology to transform the tracking error coordinates. Then, the velocity signal is obtained from the sigmoid function-based tracking differentiator by using the position signal. To solve the problem of mismatched disturbance, fuzzy logic system (FLS) are used as a universal approximator to estimate the lumped nonlinear friction and other unknown functions, the boundary of lumped disturbance is estimated by the designed adaptive updating law. By fusing the designed virtual controller and the intermediate control law, the controller needs no precise parameters of system, under which the effect of uncertainty of control gain can be compensated completely. Finally, rigorous theoretical analysis based on the Lyapunov stability theory is provided to demonstrate the finite-time stability of the closed-loop system under consideration. Simulation and experiment results are presented to show the effectiveness of the developed control approach, and some comparisons are given to show the rapid and accurate position tracking control performance.

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A fault-tolerant steer-by-wire system based on angular position estimation

Cited by 3 publications

References 32 publications

Fault-tolerant human-machine shared scheme for collision avoidance of intelligent vehicles considering driver error and actuator fault

Fault-tolerant human-machine shared scheme for collision avoidance of intelligent vehicles considering driver error and actuator fault

Adaptive fault-tolerant control based on linear matrix inequalities for actuator failures in steer-by-wire system

Combining finite-time control and prescribed tracking performance for uncertain PMSM driven steer-by-wire system with unknown disturbance

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