The Design of a Controller for the Steer-by-Wire System

Oh, Se-Wook; Chae, Ho-Chol; Yun, Seok-Chan; Han, Chang-Soo

doi:10.1299/jsmec.47.896

Cited by 62 publications

(59 citation statements)

References 5 publications

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“…The result shows that error of the system is significantly reduced. In this method, the error is about 0.06 rad) while it is normally about 0.1 -0.59 rad mentioned in [10], [15]. The result of postion tracking in J-command is shown in free control of HW (Fig.…”

Section: Simulationmentioning

confidence: 82%

“…Those include model-based approach [8], [13], [18], torque sensor-based method [9], [15], torque-map method [3], [15].…”

Section: A Model-based Approachmentioning

confidence: 99%

“…An open loop control for force feedback based on the measured current signal is conducted as algorithms described in section 4. Free control quality is evaluated by the returning force verse HW angle, [15]. Simulation parameters are chosen as follows.…”

Section: Simulationmentioning

confidence: 99%

“…Some papers [15], [16],have proposed a torque map-based method, in which, the force feedback can be obtained with a force control loop. A torque map is a reference input of the force feedback control.…”

Section: Introductionmentioning

confidence: 99%

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Direct current measurement based steer-by-wire systems for realistic driving feeling

Nguyen

Ryu

2009

2009 IEEE International Symposium on Industrial Electronics

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-In this paper, a method to reproduce realistic driving feeling and improve the returnability of steer-by-wire systems (SBW) is proposed by measuring the roadwheel motor's current directly. The key contribution presented here is a novel method to recreate the driving feeling in term of force feedback with simple and cheap current sensors. A current sensor is used to fully measure the steering torque on the rack of steering mechanism. This measured steering torque therefore, includes the overall effects of road conditions, aligning moments, tire properties and so on. Beside that, a free control scheme is proposed to improve returnability as well as the handwheel stability in a free motion. Moreover, during this research, the significant frequency effect of handwheel motions was found. This effect could be useful and valuable for improving steer-by-wire development based on torque-map based method. This method is investigated with simulation results using the control design and simulation module in LabVIEW programming language. The simulated results show that this method offers a cheaper and simpler solution for the development of steer-by-wire systems. In addition, stability and returnability of handwheel in steer-by-wire systems could be improved.

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Section: Simulationmentioning

confidence: 82%

“…Those include model-based approach [8], [13], [18], torque sensor-based method [9], [15], torque-map method [3], [15].…”

Section: A Model-based Approachmentioning

confidence: 99%

Section: Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Direct current measurement based steer-by-wire systems for realistic driving feeling

Nguyen

Ryu

2009

2009 IEEE International Symposium on Industrial Electronics

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“…Moreover, is the coulomb frictional torque acting on SbW system, expressed as [23]: By substituting Equations (5) and (9) into Equation (19), τ a can be written as:…”

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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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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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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The Design of a Controller for the Steer-by-Wire System

Cited by 62 publications

References 5 publications

Direct current measurement based steer-by-wire systems for realistic driving feeling

Direct current measurement based steer-by-wire systems for realistic driving feeling

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

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

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