This paper focuses on the front wheel angle tracking control problem of the steer-by-wire system subject to unmodeled dynamics, uncertain parameters, external disturbances and measurement noises. Considering the measurement uncertainties of front wheel angle and angular velocity, a new steering dynamics model with matched and unmatched disturbances is built for control design. An unmatched disturbance observer is designed to attenuate the effects of unmatched measurement uncertainties and further improve the angle tracking precision of steady-state. A matched disturbance observer is developed to cancel the effects of matched disturbances, and to alleviate the chattering of sliding mode control. Based on the outputs of these two disturbance observers and the sliding mode controller (SMC), a proportional differential sliding mode control (pdSMC) approach is developed by a new sliding manifold for angle tracking of the steer-by-wire system. The developed approach has been downloaded into a steering control unit, and tested in real-world conditions using vehicle test bench to fully realize electric motor steering by wire in engineering practice. Experimental results show that compared with the SMC controller, the pdSMC controller reduces the mean absolute error of the front wheel angle by 52% and 58.9% in the steering tests of step response and slalom path, respectively.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Electric motor steer-by-wire angle tracking by proportional differential sliding mode controller with disturbance observer


    Contributors:
    Shi, Qin (author) / Xu, Ziang (author) / Wei, Yujiang (author) / Wang, Mingwei (author) / Zheng, Xinxin (author) / He, Lin (author)


    Publication date :

    2023-10-01


    Size :

    12 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Sliding Mode Predictive Tracking Control for Electric Vehicle Using Steer-By-Wire System

    Huang, Chao / Naghdy, Fazel / Du, Haiping | SAE Technical Papers | 2018


    Sliding Mode Predictive Tracking Control for Electric Vehicle Using Steer-By-Wire System

    Huang, Chao / Naghdy, Fazel / Du, Haiping | British Library Conference Proceedings | 2018


    Design of steer-by-wire system with bilateral control method using disturbance observer

    Im, J.S. / Ozaki, F. / Matsunaga, M. et al. | Tema Archive | 2007


    Disturbance Observer Based Sliding Mode Controller Design for Large Civil Aircraft

    Zeng, Chao / Tsourdos, Antonios / Lone, Mohammad M. | AIAA | 2013


    Development of a Steer-by-Wire System with Force Feedback Using a Disturbance Observer

    Kuroyanagi, Hiroshi / Takeuchi, Shinji / Asai, Shoji et al. | SAE Technical Papers | 2004