Robust Sliding Mode-Based Learning Control for Steer-by-Wire Systems in Modern Vehicles

Do, Manh Tuan; Man, Zhihong; Zhang, Cishen; Wang, Hai; Tay, Fei Siang

doi:10.1109/tvt.2013.2280459

Cited by 94 publications

(60 citation statements)

References 31 publications

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“…The equivalent second-order dynamics of the front wheels' steering motor is expressed as follows [10,15]: Similarly, the front wheel angle is detected by the pinion angle sensor. Based on the error between the reference angle and the front wheel angle, the control signal is provided to the front wheel steering motor to closely steer the front wheels according to the driver's reference angle.…”

Section: Steer-by-wire System Modelingmentioning

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: Steer-by-wire System Modelingmentioning

confidence: 99%

“…The equivalent second-order dynamics of the front wheels' steering motor is expressed as follows [10,15]:…”

Section: Steer-by-wire System Modelingmentioning

confidence: 99%

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

et al. 2017

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“…A large nu mber of papers have proved that the two degree of freedo m model is more accurate in both qualitative and quantitative aspects [2][3][4]18]. A schematic d iagram of the linear t wo degree of freedom model of the forklift steering movement is shown in Fig.…”

Section: Two Degree Of Freedom Vehicle Modelmentioning

confidence: 99%

“…[2] and Ref. [3], a sliding mode control scheme for the SBW system with uncertain dynamic was used with the aim of enabling front wheels to closely follo w the driver's command. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

Liu¹,

Xiao²

2016

IJISA

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Abstract-In this paper, according to the structure characteristics of steer-by-wire (SBW) system for the TFC20 electric forklift, steering dynamics model and two degree of freedom vehicle model are deduced for SBW fo rklift. Aiming at the free design features of the angular transmission characteristics in the SBW system of electric forklift, the theory of active steering control strategy is studied. After analyzing the influence factors of the angular trans mission ratio of the steering system, the ideal angular transmission ratio is proposed, which is based on the yaw rate gain invariance. Also, the control strategy of the yaw rate feedback and the full state feedback is studied. The simu lation results show that the above strategy is effective for the act ive steering control; it can imp rove the operating stability and the response speed of the for klift.Index Terms-Electric forklift, full state feedback, ideal transmission ratio, modeling, steer-by-wire, yaw rate feedback.

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“…But, a practical issue is that the effects of the road conditions on the steering performance were not considered in the parameter estimation. In [12]- [16], sliding mode control technique [17]- [26] was successfully employed in the SbW systems with the results that the excellent steering performance against parameter uncertainties and road condition changes were achieved.…”

mentioning

confidence: 99%

Robust Control for Steer-by-Wire Systems With Partially Known Dynamics

Wang¹,

Man²,

Shen³

et al. 2014

IEEE Trans. Ind. Inf.

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In this paper, a robust control scheme (RCS) for Steer-by-Wire (SbW) systems with partially known dynamics is proposed. It is shown that an SbW system can be represented by a nominal model and an unknown portion. A nominal feedback controller can then be used to stabilize the nominal model and a sliding mode compensator (SMC) is designed to remove the effects of both the unknown system dynamics and uncertain road conditions on the steering performance. For practical consideration, robust exact differentiator (RED) technique is utilized to estimate the derivatives of the position signals for controller design. It is further shown that the designed RCS is able to guarantee a robust steering performance against system and road uncertainties. The comparative experimental studies are given to verify the excellent performance of the proposed RCS for SbW systems.

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Robust Sliding Mode-Based Learning Control for Steer-by-Wire Systems in Modern Vehicles

Cited by 94 publications

References 31 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

Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

Robust Control for Steer-by-Wire Systems With Partially Known Dynamics

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