Yipeng Gao;Weida Wang;Chao Yang;Yuhang Zhang;Tianqi Qie;Taiheng Ma
{"title":"A New Reaching Law for Anti-Disturbance Sliding Mode Control of Steer-by-Wire System","authors":"Yipeng Gao;Weida Wang;Chao Yang;Yuhang Zhang;Tianqi Qie;Taiheng Ma","doi":"10.1109/TVT.2024.3491333","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":13421,"journal":{"name":"IEEE Transactions on Vehicular Technology","volume":"74 3","pages":"4064-4075"},"PeriodicalIF":7.1000,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Vehicular Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10742333/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
Abstract
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.
期刊介绍：
The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
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