Title :
Robust Control for Steer-by-Wire Systems With Partially Known Dynamics
Author :
Hai Wang ; Zhihong Man ; Weixiang Shen ; Zhenwei Cao ; Jinchuan Zheng ; Jiong Jin ; Do Manh Tuan
Author_Institution :
Fac. of Sci., Eng., & Technol., Swinburne Univ. of Technol., Melbourne, VIC, Australia
Abstract :
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.
Keywords :
compensation; control system synthesis; feedback; road traffic control; robust control; steering systems; variable structure systems; vehicle dynamics; RCS; RED technique; SMC design; SbW systems; nominal feedback controller; nominal model stabilization; partially known dynamics; position signal derivative estimation; robust control scheme; robust exact differentiator technique; robust steering performance; sliding mode compensator design; steer-by-wire systems; uncertain road conditions; unknown system dynamics; Robust control; Sliding mode control; Steering systems; Uncertainty; Vehicle dynamics; Partially known dynamics; Steer-by-Wire (SbW); robustness; sliding mode compensator (SMC);
Journal_Title :
Industrial Informatics, IEEE Transactions on
DOI :
10.1109/TII.2014.2338273
