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

Chao Huang; Fazel Naghdy; Haiping Du

doi:10.1016/j.conengprac.2018.12.010

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

Chao Huang, Fazel Naghdy, Haiping Du

Research output: Journal article publication › Journal article › Academic research › peer-review

55 Citations (Scopus)

Abstract

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 language	English
Pages (from-to)	194-205
Number of pages	12
Journal	Control Engineering Practice
Volume	85
DOIs	https://doi.org/10.1016/j.conengprac.2018.12.010
Publication status	Published - Apr 2019
Externally published	Yes

Keywords

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

More information

10.1016/j.conengprac.2018.12.010

Cite this

@article{4ce089d56166494b8335f4b776e41697,

title = "Sliding mode predictive tracking control for uncertain Steer-by-Wire system",

abstract = "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.",

keywords = "Linear matrix inequality, Model uncertainty and disturbance, Sliding mode predictive control, Steer-by-Wire systems",

author = "Chao Huang and Fazel Naghdy and Haiping Du",

note = "Funding Information: The authors are supported by ERATO HASUO Metamathematics for Systems Design Project (No. JPMJER1603 ), JST. Publisher Copyright: {\textcopyright} 2019 Elsevier Ltd",

year = "2019",

month = apr,

doi = "10.1016/j.conengprac.2018.12.010",

language = "English",

volume = "85",

pages = "194--205",

journal = "Control Engineering Practice",

issn = "0967-0661",

publisher = "Elsevier Ltd",

}

TY - JOUR

T1 - Sliding mode predictive tracking control for uncertain Steer-by-Wire system

AU - Huang, Chao

AU - Naghdy, Fazel

AU - Du, Haiping

PY - 2019/4

Y1 - 2019/4

N2 - 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.

AB - 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.

KW - Linear matrix inequality

KW - Model uncertainty and disturbance

KW - Sliding mode predictive control

KW - Steer-by-Wire systems

UR - http://www.scopus.com/inward/record.url?scp=85061317542&partnerID=8YFLogxK

U2 - 10.1016/j.conengprac.2018.12.010

DO - 10.1016/j.conengprac.2018.12.010

M3 - Journal article

AN - SCOPUS:85061317542

SN - 0967-0661

VL - 85

SP - 194

EP - 205

JO - Control Engineering Practice

JF - Control Engineering Practice

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

More information

Other files and links

Fingerprint

Cite this