Robust fuzzy tracking control of uncertain steer-by-wire systems with network time delays

The modern Steer-by-Wire (SbW) systems that have potential to replace the mechanical steering shaft between the hand wheel and front wheels with electric motors and sensors suffer from nonlinear dynamics and communication network time delays. In order to ensure a resilient steering performance under parameter uncertainties and network time delays, a robust fuzzy tracking controller based on Takagi-Sugeno (T-S) model is proposed. Using a suitable choice of the reference model, a fuzzy tracking controller is introduced to track a reference signal, and the H_∞ tracking performance is guaranteed for a prescribed level for all external disturbances and reference signal. The simulation results demonstrate the effectiveness of the proposed control scheme.