Sliding mode predictive tracking control for uncertain Steer-by-Wire system

Chao Huang, Fazel Naghdy, Haiping Du

Research output: Journal article publicationJournal articleAcademic researchpeer-review

27 Citations (Scopus)


The Steer-by-Wire (SbW) system is probably the most significant innovation among drive-by-Wire technologies in the automotive industry. Without the mechanical link, the most challenging issue is to control the wheels to closely follow the driver's command. To improve the robustness of the model predictive control (MPC) in the presence of modeling uncertainties and disturbances in the steering control processes, a sliding mode predictive tracking control (SMPC) strategy for a SbW system with uncertain dynamics is proposed. The simulation and experimental results demonstrate that the performance of the proposed SMPC tracking controller is superior to both SMC and MPC methods for the steering angle tracking task.

Original languageEnglish
Pages (from-to)194-205
Number of pages12
JournalControl Engineering Practice
Publication statusPublished - Apr 2019
Externally publishedYes


  • Linear matrix inequality
  • Model uncertainty and disturbance
  • Sliding mode predictive control
  • Steer-by-Wire systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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