Adaptive Steering Control for Steer-by-Wire Systems
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Steer-by-Wire (SBW) systems are being adapted widely in semi-autonomous and fully autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties, external disturbances and actuator delay; crucially, perturbations in inertial parameters and damping forces give rise to state-dependent uncertainties, which cannot be bounded a priori by a constant. However, the state-of-the-art control methods of SBW system rely on a priori bounded uncertainties, and thus, become inapplicable when state-dependent dynamics become unknown. In addition, ensuring tracking accuracy under actuator delay is always a challenging task. This work proposes two control frameworks to overcome these challenges. Firstly, an adaptive controller is proposed to tackle the state-dependent uncertainties and external disturbances in a typical SBW system without any a priori knowledge of their structures and of their bounds. The stability of the closed-loop system is studied analytically via uniformly ultimately bounded notion and the effectiveness of the proposed solution is verified via simulations against the state-of-the-art solution. While this proposed controller handles the uncertainties and external perturbations, it does not consider the actuator delay which sometimes result in decreased accuracy. Therefore, a new adaptive-robust control framework is devised to tackle the same control problem of an SBW system under the influence of time-varying input delay. In comparison to the existing strategies, the proposed framework removes the conservative assumption of a priori bounded uncertainty and, in addition, the Razumikhin theorem based stability analysis allows the proposed scheme to deal with arbitrary variation in input delay. The effectiveness of the both controllers is proved using comparative simulation studies.
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