Steer-by-wire (SBW) vehicle, in which the conventional mechanical linkages between the steering wheel and the front wheel are removed, is suited to active steering control, improving vehicle stability, dynamics and maneuverability, as well as to autonomous steering control to assist the driver. Robust steering control based on a sliding mode observer is used here for improving the yaw dynamics of a passenger car. In this paper, the authors propose model-based multiplicative uncertainty detection and rejection method for steering by wire vehicle using sliding mode observer. In this paper, a SBW system is assumed where the commands to the steering actuator from the steering controller are added to those of the driver commanded via the steering wheel. The steering control system should be robust w.r.t. large variations in longitudinal speed, payload and road adhesion and w.r.t. unmodeled dynamics as well. Moreover, its actions should not be uncomfortable for the driver and passengers. The model uncertainty is defined multiplicative fault. They propose the design of the multiplicative faults detection for SBW vehicles using sliding mode observer. A reconfiguration algorithm of controller parameters based on the information delivered by the FDI system is presented. The effectiveness of the proposed method is verified by simulations.
Robust vehicle steering control based on a sliding mode observer
Robuste Fahrzeugführungsregelung auf Basis eines Sliding-Mode-Beobachters
2008
6 Seiten, 11 Bilder, 1 Tabelle, 6 Quellen
Conference paper
English
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