Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode

Sun, Zhe; Zheng, Jinchuan; Man, Zhihong; Wang, Hai

doi:10.1109/tie.2015.2499246

Cited by 83 publications

(100 citation statements)

References 32 publications

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“…In addition, the parameters for the designed AGFSMC scheme with dead zone bounds are chosen as: To compare the performance of the proposed AGFSMC scheme with the adaptive sliding mode control (ASMC), as designed in [25], we used the following equations: e + λe with . s = (s k − s k−1 )/∆t are defined in Equation (71).…”

Section: Simulation Resultsmentioning

confidence: 99%

“…The saturation function sat(·) is also taken to be the same as Equation (67) with boundary layer thickness φ = 0.8. Moreover, the nominal SbW system parameters J e0 = 3, B e0k = 12, ξ f 0 = 100, k = 18, and the control parameters λ = 12, = 72, µ = 450 are selected according to the methodology defined in [25].…”

Section: Simulation Resultsmentioning

confidence: 99%

“…y(t − 1) is the prior lateral velocity. The conventional sliding mode observer (SMO) for vehicle states (Equation (11)) can be designed as: (25) ..…”

Section: Asmo and Kfmentioning

confidence: 99%

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

et al. 2017

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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.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Simulation Resultsmentioning

confidence: 99%

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

et al. 2017

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“…As the main drawback of SMC, severe chattering may damage the mechanical structure or even make the system unstable. There exist several ways in the literatures to alleviate this phenomenon, e.g., boundary layer technique [21], disturbance compensation [22], filter technique [23], etc. The widely used boundary layer technique can lead to the loss of the invariance that defacts the control accuracy [21].…”

Section: Introductionmentioning

confidence: 99%

“…There exist several ways in the literatures to alleviate this phenomenon, e.g., boundary layer technique [21], disturbance compensation [22], filter technique [23], etc. The widely used boundary layer technique can lead to the loss of the invariance that defacts the control accuracy [21]. Alternatively, based on high order sliding mode (HOSM), the control input is obtained in an integration of the discontinuous switching term.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Second Order Recursive Terminal Sliding Mode Control for a Four-Wheel Independent Steer-by-Wire System

2020

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An adaptive second order recursive terminal sliding mode (SO-RTSM) is developed for the steering angle control of a four-wheel independent steer-by-wire (4WI-SbW) system. A recursive sliding mode structure is presented based on which the reaching phase is eliminated. Moreover, the finite time convergence of the tracking error is guaranteed compared to common integral sliding mode control (ISMC). Furthermore, to suppress chattering, instead of a first-order sliding mode used in a conventional ARTSM controller, a second order nonsingular terminal sliding mode is adopted such that reaching control input is obtained in an integral form. The advantage of the proposed controller is that the chattering can be effectively reduced without decreasing the control accuracy. Experiments are carried out on a real 4WI-SbW vehicle to demonstrate the fast convergence rate and small chattering of the proposed controller. INDEX TERMS Four-wheel independent steer-by-wire (4WI-SbW), recursive terminal sliding mode (RTSM), second order, chattering, adaptive control.

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Robust adaptive control of steer‐by‐wire systems under unknown state‐dependent uncertainties

Shukla

Roy

Gupta

2021

Adaptive Control & Signal

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Steer-by-wire (SBW) systems are considered as one of the most significant innovations among the technologies developed for advanced driver-assistance systems and autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties and external disturbances; crucially, perturbations in inertial parameters and damping forces give rise to state-dependent uncertainties, which cannot be bounded a priori by a constant. However, the state-of-the-art control methods of SBW system rely on a priori bounded uncertainties, and thus, become inapplicable when state-dependent dynamics become unknown. This work, to the best of the authors' knowledge for the first time, proposes an adaptive control framework that can tackle the state-dependent uncertainties and external disturbances in a typical SBW system without any a priori knowledge of their structures and of their bounds. The stability of the closed-loop system is studied analytically via uniformly ultimately bounded notion and the effectiveness of the proposed solution is verified via simulations against the state-of-the-art solution.

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Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode

Cited by 83 publications

References 32 publications

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

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

Adaptive Second Order Recursive Terminal Sliding Mode Control for a Four-Wheel Independent Steer-by-Wire System

Robust adaptive control of steer‐by‐wire systems under unknown state‐dependent uncertainties

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