Active steering stability control of steer-by-wire vehicles based on variable horizon-robust model predictive control

Shao, Wang; Liang, Xiaofeng; Fang, Ting; Zhao, Lian; Hu, Yanping

doi:10.1007/s40430-023-04316-5

Cited by 4 publications

(2 citation statements)

References 32 publications

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“…The domain of steer-by-wire systems has witnessed an extensive exploration of diverse control strategies aimed at enhancing the dynamic performance and safety of SBW vehicles [5][6][7][8][9]. In [10], an adaptive sliding mode control (SMC) method was presented for the vehicle SBW system to address the trajectory tracking problem and enhance robustness against diverse road conditions.…”

Section: Introductionmentioning

confidence: 99%

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Rsetam,

Khawwaf,

Zheng

et al. 2024

WEVJ

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The modern steer-by-wire (SBW) systems represent a revolutionary departure from traditional automotive designs, replacing mechanical linkages with electronic control mechanisms. However, the integration of such cutting-edge technologies is not without its challenges, and one critical aspect that demands thorough consideration is the presence of nonlinear dynamics and communication network time delays. Therefore, to handle the tracking error caused by the challenge of time delays and to overcome the parameter uncertainties and external perturbations, a robust fast finite-time composite controller (FFTCC) is proposed for improving the performance and safety of the SBW systems in the present article. By lumping the uncertainties, parameter variations, and exterior disturbance with input and output time delays as the generalized state, a scaling finite-time extended state observer (SFTESO) is constructed with a scaling gain for quickly estimating the unmeasured velocity and the generalized disturbances within a finite time. With the aid of the SFTESO, the robust FFTCC with the scaling gain is designed not only for ensuring finite-time convergence and strong robustness against time delays and disturbances but also for improving the speed of the convergence as a main novelty. Based on the Lyapunov theorem, the closed-loop stability of the overall SBW system is proven as a global uniform finite-time. Through examination across three specific scenarios, a comprehensive evaluation is aimed to assess the efficiency of the suggested controller strategy, compared with active disturbance rejection control (ADRC) and scaling ADRC (SADRC) methods across these three distinct driving scenarios. The simulated results have confirmed the merits of the proposed control in terms of a fast-tracking rate, small tracking error, and strong system robustness.

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Section: Introductionmentioning

confidence: 99%

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Rsetam,

Khawwaf,

Zheng

et al. 2024

WEVJ

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“…Its main purpose is to enhance the steering response characteristics of the vehicle by regulating the angles of the front wheels. As a result, the control of variable transmission ratios has become a notable research emphasis in the field of automotive engineering [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System

Lin,

Zhang,

et al. 2024

Actuators

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The steer-by-wire system severs the mechanical link between the steering wheel and the steering gear. This configuration enhances the angular transmission characteristics. Entering the nonlinear region of the tires could result in a reduction in the vehicle’s steering gain. In order to improve the comfort of vehicle steering operation, we have developed a variable transmission ratio controller for the steer-by-wire (SBW) system. This controller utilizes information on the vehicle speed and steering wheel angle to generate a variable transmission ratio coefficient, thereby adjusting the steering ratio. We introduce a multi-objective comprehensive evaluation index that takes into account vehicle lateral deviation, driver steering burden, vehicle stability, and safety. To harmonize the transmission ratio weights of constant steering gain, we employ the coefficient of variation method. Ultimately, a fuzzy neural network is employed to craft a nonlinear controller. We conducted steady-state circular motion tests, double lane-change tests, and step input tests to validate the performance of the variable transmission ratio control. The results suggest that, in comparison to conventional fixed transmission ratio systems, the variable transmission ratio control within the steer-by-wire system significantly alleviates the driver’s operational burden while enhancing the vehicle’s handling stability and safety.

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Research on Vehicle Active Steering Control Based on Linear Matrix Inequalities

Liu,

Wang,

Zhou

et al. 2024

2024 International Conference on Electrical Power Systems and Intelligent Control (EPSIC)

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Active steering stability control of steer-by-wire vehicles based on variable horizon-robust model predictive control

Cited by 4 publications

References 32 publications

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Fast Finite-Time Composite Controller for Vehicle Steer-by-Wire Systems with Communication Delays

Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System

Research on Vehicle Active Steering Control Based on Linear Matrix Inequalities

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