Fault tolerant sliding mode predictive control for uncertain steer-by-wire system

Chao Huang, Fazel Naghdy, Haiping Du

Research output: Journal article publicationJournal articleAcademic researchpeer-review

84 Citations (Scopus)


The Steer-by-Wire (SbW) system is an electronically controlled steering system that is able to improve steering capability without mechanical links between the steering wheel and the front wheels. However, failure of the SbW system actuator may lead to steering performance degradation and result in instability. In this paper, a fault tolerant sliding mode predictive control (SMPC) strategy for an SbW system is proposed. The sliding mode control is applied to improve the robustness of the model predictive control (MPC) in the presence of modeling uncertainties and disturbances, while the MPC is applied to enhance the fault tolerant capability of the steering control processes. The chaos particle swarm optimization (CPSO) algorithm is introduced to optimize the MPC and a two-stage Kalman filter is introduced to simultaneously provide fault information and state estimation. The performance of the proposed approach is validated through computer simulation. The results demonstrate that the proposed SMPC-CPSO controller is more robust and provides better tracking performance in the presence of model uncertainties, disturbance, and actuator faults than SCMP-PSOs (heterogeneous comprehensive learning particle swarm optimization, evolutionary particle swarm optimizer, etc), SMPC-differential evolution, MPC, SMPC, and MPC-PSO.

Original languageEnglish
Article number8114322
Pages (from-to)261-272
Number of pages12
JournalIEEE Transactions on Cybernetics
Issue number1
Publication statusPublished - Jan 2019
Externally publishedYes


  • Chaos particle swarm optimization (CPSO)
  • fault tolerant control (FTC)
  • sliding mode predictive control (SMPC)
  • Steer-by-Wire (SbW) systems

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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