Title: Sliding mode learning compensator-based robust control of automotive steer-by-wire systems

Authors: Huifang Kong; Xiaoxue Zhang; Hai Wang; Wei Bao; Kaiwen Jiang

Addresses: School of Electrical Engineering and Automation, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, Anhui Province, China ' School of Electrical Engineering and Automation, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, Anhui Province, China ' School of Electrical Engineering and Automation, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, Anhui Province, China ' School of Electrical Engineering and Automation, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, Anhui Province, China ' School of Electrical Engineering and Automation, Hefei University of Technology, 193 Tunxi Road, Hefei 230009, Anhui Province, China

Abstract: In this paper, a new robust control scheme is proposed for automotive steer-by-wire (SBW) systems. It is shown that the proposed control scheme consists of one nominal controller and one sliding mode learning compensator (SMLC) using the recently developed sliding mode learning control technique. It is established that the developed SMLC does not require any information of lumped uncertainty such that the effects of the lumped uncertainty can be effectively alleviated. The numerical simulation results of two driving cases are presented to show good steering performance and strong robustness of the closed-loop system with the proposed control regarding road uncertainties.

Keywords: nominal model; sliding mode learning compensator; SMLC; robust control; lumped uncertainty; sliding mode control; SMC; automotive steer-by-wire; SBW; automobile industry; numerical simulation; steering performance; road uncertainties.

DOI: 10.1504/IJMIC.2016.080298

International Journal of Modelling, Identification and Control, 2016 Vol.26 No.3, pp.253 - 263

Received: 20 May 2015
Accepted: 20 Sep 2015

Published online: 08 Nov 2016 *

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