Adaptive Global Fast Sliding Mode Control for Steer-by-Wire System Road Vehicles

Abstract

Abstract:A steer-by-wire (SbW) system, also known as a next-generation steering system, is one of the core elements of autonomous driving technology. Navigating a SbW system road vehicle in varying driving conditions requires an adaptive and robust control scheme to effectively compensate for the uncertain parameter variations and external disturbances. Therefore, this article proposed an adaptive global fast sliding mode control (AGFSMC) for SbW system vehicles with unknown steering parameters. First, the cooperative adaptive sliding mode observer (ASMO) and Kalman filter (KF) are established to simultaneously estimate the vehicle states and cornering stiffness coefficients. Second, based on the best set of estimated dynamics, the AGFSMC is designed to stabilize the impact of nonlinear tire-road disturbance forces and at the same time to estimate the uncertain SbW system parameters. Due to the robust nature of the proposed scheme, it can not only handle the tire-road variation, but also intelligently adapts to the different driving conditions and ensures that the tracking error and the sliding surface converge asymptotically to zero in a finite time. Finally, simulation results and comparative study with other control techniques validate the excellent performance of the proposed scheme.

Electronic Steering of the Vehicle Axle with Force Feedback

“…The goal of further development is to find a solution for road surface feedback and get it to the driver through the steering wheel. The solution can be force or torque sensors in combination with accelerometers or yaw rate sensors mounted on the wheels of the vehicle as described in [18,19].…”

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

“…Meanwhile, in order to ensure that the sliding surface can converge to zero within a finite time [38], we define thatṡ…”

Road Vehicles Surroundings Supervision: Onboard Sensors and Communications

“…These papers could be divided in two main groups. The first deals with specific technologies or solutions [1][2][3][4][5][6][7] and the second presents applications or architectures for complete autonomous vehicles (or parts of them) [8][9][10][11]. Furthermore, the first group presents a quite wide vision of research fields that could be involved such as onboard sensors [1][2][3], communications [4], driver supervision [5], and traffic analysis [6,7].…”

“…The four remaining papers that are included deal with autonomous vehicles. An adaptive global fast sliding mode control (AGFSMC) for Steer-by-wire system vehicles with unknown steering parameters is proposed [8]. Due to the robust nature of the proposed scheme, it can not only handle the tire-road variation, but also intelligently adapts to the different driving conditions and ensures that the tracking error and the sliding surface converge asymptotically to zero in a finite time.…”