Development of 2 degree of freedom steer-by-wire hand-wheel actuator control

The paper describes the application of model reduction and robust 2-degree-of-freedom loop-shaping control to the torque-feel control of the hand-wheel actuator of a fail-safe steer-by-wire system. These techniques are shown to produce a low-order controller with good hands-on feel and robust stability. The results of the robust controller are evaluated by stability & control quality measurements in Matlab®, by component-in-the-loop simulation and by vehicle tests. The results show promising and superior control performance in both tracking performance and stability robustness.