Error Handling Algorithm and Probabilistic Analysis Under Fault for CAN-Based Steer-by-Wire System

Shah, Mohd Badril Nor; Husain, Abdul Rashid; Aysan, Huseyin; Punnekkat, Sasikumar; Dobrin, Radu; Bender, Fernando Augusto

doi:10.1109/tii.2016.2543232

Cited by 24 publications

(7 citation statements)

References 39 publications

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“…The technology behind (SBW) systems offers greater flexibility and control but is not without its challenges, particularly in dealing with time delays within the system [22]. Time delays can occur at various stages, including signal processing, communication, and actuation [23].…”

Section: Introductionmentioning

confidence: 99%

“…These delays, especially in communication, significantly impact the performance of the SBW systems, leading to sluggish response times and compromising the vehicle's ability to navigate swiftly and precisely. Such compromises not only affect the effectiveness of SBW systems but also raise safety concerns, particularly in critical situations where delays pose inherent risks [22]. Therefore, it is imperative to comprehensively address the challenges posed by time delays in SBW systems to ensure their smooth integration into the automotive industry.…”

Section: Introductionmentioning

confidence: 99%

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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%

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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“…Since the implementation from divers is removed and replaced by a steering motor, it is a challenging problem to realize accurate control of the front wheels for SbW systems. 2–4…”

Section: Introductionmentioning

confidence: 99%

“…Since the implementation from divers is removed and replaced by a steering motor, it is a challenging problem to realize accurate control of the front wheels for SbW systems. [2][3][4] In order to make the automobile equipped with SbW system drive along the road path accurately and quickly, dynamics modeling and controller design are both important. To this end, several control methods have been explored in SbW systems for stable steering performance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive discrete-time NN controller design for automobile steer-by-wire systems with angular velocity observer

Wang

Liu

Wang

2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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As one of steering systems, the steer-by-wire (SbW) system plays a significant role in the automobile. This paper investigates the study of the adaptive discrete-time neural network (NN) steering tracking control of the SbW system based on angular velocity observer. First, the continuous second-order SbW system is discretized by the Euler approximation approach. Before the control design, an adaptive discrete-time angular velocity observer is constructed to estimate the value of angular velocity signal. Then, an adaptive discrete-time control via a backstepping scheme is proposed to achieve the exact steering tracking performance, where the unknown nonlinear function, as well as the control coefficient, are incorporated into the lumped uncertainty and approximated by one NN. The main advantages of the proposed control scheme can be concluded that: (1) without using the exact prior knowledge of system uncertainty and angular position signal, the discrete-time tracking control is achieved and (2) the noncausal problem is overcome without transforming the original system into a predictor form. Finally, the Lyapunov stability theory shows that the tracking error converges to a small neighborhood of zero. Simulations and experiments illustrate the effectiveness and superiority of the proposed adaptive discrete-time NN control.

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“…It is able to detect fault occurrence and thereof reduce or even eliminate the adverse impact through implementing enabling compensation measures [11]. The commonly-used FDI methods can be sorted into two groups based on either hardware or analytical redundancy [12] [13] [14]. Particularly, the latter receives more popularity in practice as no additional hardware is required.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Control for Intelligent Electrified Vehicles Against Front Wheel Steering Angle Sensor Faults During Trajectory Tracking

Wang

Ding

et al. 2021

IEEE Access

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Steer-by-Wire (SBW) systems are an integral and essential component of intelligent electrified vehicles and are critical to ensure safe vehicle operations. In this paper, a fault-tolerant control method for SBW is proposed to mitigate the adverse influence of front wheel steering angle sensor faults based on the Kalman filtering technique. First, a linearized vehicle model is derived based on tire characteristics and is further combined with a steering actuator model to provide the modelling foundation for estimating the front wheel steering angle. Considering multi-source noises and their significant influence on the front wheel steering angle sensor, the Butterworth filter is employed to filter out the high-frequency noises. The front wheel steering angle estimation is realized by incorporating the measurements of the yaw rate and lateral acceleration of vehicle and the current of steering motor. In particular, a dynamic threshold mechanism is adopted to activate the fault diagnosis and fault-tolerant compensation based on the residual theory. Finally, a linear time-varying model predictive controller is presented to execute the trajectory tracking task for an intelligent electrified vehicle. The effectiveness of the proposed scheme is verified under the single lane change and double lane change maneuvers during the trajectory tracking.

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Error Handling Algorithm and Probabilistic Analysis Under Fault for CAN-Based Steer-by-Wire System

Cited by 24 publications

References 39 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

Adaptive discrete-time NN controller design for automobile steer-by-wire systems with angular velocity observer

Fault-Tolerant Control for Intelligent Electrified Vehicles Against Front Wheel Steering Angle Sensor Faults During Trajectory Tracking

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