Robust Control for Steer-by-Wire Systems With Partially Known Dynamics
In this paper, a robust control scheme (RCS) for Steer-by-Wire (SbW) systems with partially known dynamics is proposed. It is shown that an SbW system can be represented by a nominal model and an unknown portion. A nominal feedback controller can then be used to stabilize the nominal model and a sli...
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| Veröffentlicht in: | IEEE transactions on industrial informatics 2014-11, Vol.10 (4), p.2003-2015 |
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| container_end_page | 2015 |
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| container_issue | 4 |
| container_start_page | 2003 |
| container_title | IEEE transactions on industrial informatics |
| container_volume | 10 |
| creator | Wang, Hai Man, Zhihong Shen, Weixiang Cao, Zhenwei Zheng, Jinchuan Jin, Jiong Tuan, Do Manh |
| description | In this paper, a robust control scheme (RCS) for Steer-by-Wire (SbW) systems with partially known dynamics is proposed. It is shown that an SbW system can be represented by a nominal model and an unknown portion. A nominal feedback controller can then be used to stabilize the nominal model and a sliding mode compensator (SMC) is designed to remove the effects of both the unknown system dynamics and uncertain road conditions on the steering performance. For practical consideration, robust exact differentiator (RED) technique is utilized to estimate the derivatives of the position signals for controller design. It is further shown that the designed RCS is able to guarantee a robust steering performance against system and road uncertainties. The comparative experimental studies are given to verify the excellent performance of the proposed RCS for SbW systems. |
| doi_str_mv | 10.1109/TII.2014.2338273 |
| format | Article |
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It is shown that an SbW system can be represented by a nominal model and an unknown portion. A nominal feedback controller can then be used to stabilize the nominal model and a sliding mode compensator (SMC) is designed to remove the effects of both the unknown system dynamics and uncertain road conditions on the steering performance. For practical consideration, robust exact differentiator (RED) technique is utilized to estimate the derivatives of the position signals for controller design. It is further shown that the designed RCS is able to guarantee a robust steering performance against system and road uncertainties. The comparative experimental studies are given to verify the excellent performance of the proposed RCS for SbW systems.</description><identifier>ISSN: 1551-3203</identifier><identifier>EISSN: 1941-0050</identifier><identifier>DOI: 10.1109/TII.2014.2338273</identifier><identifier>CODEN: ITIICH</identifier><language>eng</language><publisher>Piscataway: IEEE</publisher><subject>Control systems ; Derivatives ; Design engineering ; Dynamical systems ; Dynamics ; Roads ; Robust control ; Sliding mode control ; Steering ; Steering systems ; Uncertainty ; Vehicle dynamics</subject><ispartof>IEEE transactions on industrial informatics, 2014-11, Vol.10 (4), p.2003-2015</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Nov 2014</rights><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c324t-b19a9a268b33cbb5486dbe5623b6af5bccdb3dc36771b45ee2ebad0946a3a8763</citedby><cites>FETCH-LOGICAL-c324t-b19a9a268b33cbb5486dbe5623b6af5bccdb3dc36771b45ee2ebad0946a3a8763</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6858085$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>315,782,786,798,27933,27934,54767</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6858085$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Wang, Hai</creatorcontrib><creatorcontrib>Man, Zhihong</creatorcontrib><creatorcontrib>Shen, Weixiang</creatorcontrib><creatorcontrib>Cao, Zhenwei</creatorcontrib><creatorcontrib>Zheng, Jinchuan</creatorcontrib><creatorcontrib>Jin, Jiong</creatorcontrib><creatorcontrib>Tuan, Do Manh</creatorcontrib><title>Robust Control for Steer-by-Wire Systems With Partially Known Dynamics</title><title>IEEE transactions on industrial informatics</title><addtitle>TII</addtitle><description>In this paper, a robust control scheme (RCS) for Steer-by-Wire (SbW) systems with partially known dynamics is proposed. It is shown that an SbW system can be represented by a nominal model and an unknown portion. A nominal feedback controller can then be used to stabilize the nominal model and a sliding mode compensator (SMC) is designed to remove the effects of both the unknown system dynamics and uncertain road conditions on the steering performance. For practical consideration, robust exact differentiator (RED) technique is utilized to estimate the derivatives of the position signals for controller design. It is further shown that the designed RCS is able to guarantee a robust steering performance against system and road uncertainties. The comparative experimental studies are given to verify the excellent performance of the proposed RCS for SbW systems.</description><subject>Control systems</subject><subject>Derivatives</subject><subject>Design engineering</subject><subject>Dynamical systems</subject><subject>Dynamics</subject><subject>Roads</subject><subject>Robust control</subject><subject>Sliding mode control</subject><subject>Steering</subject><subject>Steering systems</subject><subject>Uncertainty</subject><subject>Vehicle dynamics</subject><issn>1551-3203</issn><issn>1941-0050</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkMFLwzAUh4soOKd3wUvAi5fOJC9J26NMp8OB4iY7hiRNsaNrZpIi_e_t2PDg4fF7h-_3eHxJck3whBBc3K_m8wnFhE0oQE4zOElGpGAkxZjj02HnnKRAMZwnFyFsMIYMQzFKZh9OdyGiqWujdw2qnEfLaK1PdZ-ua2_Rsg_RbgNa1_ELvSsfa9U0PXpt3U-LHvtWbWsTLpOzSjXBXh1znHzOnlbTl3Tx9jyfPixSA5TFVJNCFYqKXAMYrTnLRaktFxS0UBXXxpQaSgMiy4hm3FpqtSpxwYQClWcCxsnd4e7Ou-_Ohii3dTC2aVRrXRckEYwCAUrZgN7-Qzeu8-3w3UBRgodhewofKONdCN5WcufrrfK9JFjuxcpBrNyLlUexQ-XmUKmttX-4yHmOcw6_ZF1zXg</recordid><startdate>201411</startdate><enddate>201411</enddate><creator>Wang, Hai</creator><creator>Man, Zhihong</creator><creator>Shen, Weixiang</creator><creator>Cao, Zhenwei</creator><creator>Zheng, Jinchuan</creator><creator>Jin, Jiong</creator><creator>Tuan, Do Manh</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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It is shown that an SbW system can be represented by a nominal model and an unknown portion. A nominal feedback controller can then be used to stabilize the nominal model and a sliding mode compensator (SMC) is designed to remove the effects of both the unknown system dynamics and uncertain road conditions on the steering performance. For practical consideration, robust exact differentiator (RED) technique is utilized to estimate the derivatives of the position signals for controller design. It is further shown that the designed RCS is able to guarantee a robust steering performance against system and road uncertainties. The comparative experimental studies are given to verify the excellent performance of the proposed RCS for SbW systems.</abstract><cop>Piscataway</cop><pub>IEEE</pub><doi>10.1109/TII.2014.2338273</doi><tpages>13</tpages></addata></record> |
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| source | IEEE Electronic Library (IEL) |
| subjects | Control systems Derivatives Design engineering Dynamical systems Dynamics Roads Robust control Sliding mode control Steering Steering systems Uncertainty Vehicle dynamics |
| title | Robust Control for Steer-by-Wire Systems With Partially Known Dynamics |
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