TY - JOUR
T1 - A New Reaching Law for Anti-Disturbance Sliding Mode Control of Steer-by-Wire System
AU - Gao, Yipeng
AU - Wang, Weida
AU - Yang, Chao
AU - Zhang, Yuhang
AU - Qie, Tianqi
AU - Ma, Taiheng
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2025
Y1 - 2025
N2 - The precise control of steer-by-wire (SBW) system is the foundation of vehicle driving safety, but the unknown disturbances such as model uncertainty, system friction, rack force and parameter perturbation can cause the tracking error of steering angle command. In order to solve this issue and improve the angle tracking accuracy under unknown disturbances, an anti-disturbance sliding mode control (ADSMC) method is designed and applied to SBW system. Firstly, the mathematical model with reflecting unknown disturbances of SBW system is established. Secondly, a new sliding mode reaching law with parameter adjustment function is proposed, which can dynamically adjust the reaching speed of system state according to the distance from sliding mode surface. Thirdly, an extended state observer with hyperbolic tangent function is designed to prevent the observation peak, and an adaptive law with mapping method is constructed to limit excessive disturbance compensation, which can estimate and compensate unknown disturbances effectually. Finally, the ADSMC method is applied to SBW system, and the effectiveness of ADSMC method is verified by simulation and test. Test results show that, compared with traditional sliding mode control, the ADSMC method can improve the tracking accuracy of steering angle command for SBW system (the average response error is reduced by 73.94%) in typical circular road.
AB - The precise control of steer-by-wire (SBW) system is the foundation of vehicle driving safety, but the unknown disturbances such as model uncertainty, system friction, rack force and parameter perturbation can cause the tracking error of steering angle command. In order to solve this issue and improve the angle tracking accuracy under unknown disturbances, an anti-disturbance sliding mode control (ADSMC) method is designed and applied to SBW system. Firstly, the mathematical model with reflecting unknown disturbances of SBW system is established. Secondly, a new sliding mode reaching law with parameter adjustment function is proposed, which can dynamically adjust the reaching speed of system state according to the distance from sliding mode surface. Thirdly, an extended state observer with hyperbolic tangent function is designed to prevent the observation peak, and an adaptive law with mapping method is constructed to limit excessive disturbance compensation, which can estimate and compensate unknown disturbances effectually. Finally, the ADSMC method is applied to SBW system, and the effectiveness of ADSMC method is verified by simulation and test. Test results show that, compared with traditional sliding mode control, the ADSMC method can improve the tracking accuracy of steering angle command for SBW system (the average response error is reduced by 73.94%) in typical circular road.
KW - disturbance estimation
KW - sliding mode control
KW - sliding mode reaching law
KW - Steer-by-wire
KW - steering angle tracking
UR - http://www.scopus.com/inward/record.url?scp=105001065503&partnerID=8YFLogxK
U2 - 10.1109/TVT.2024.3491333
DO - 10.1109/TVT.2024.3491333
M3 - Article
AN - SCOPUS:105001065503
SN - 0018-9545
VL - 74
SP - 4064
EP - 4075
JO - IEEE Transactions on Vehicular Technology
JF - IEEE Transactions on Vehicular Technology
IS - 3
ER -