Active Tracking Control for Steer-by-Wire System With Disturbance Observer

Wu, Xiaodong; Zhang, Mingming; Xu, Min

doi:10.1109/tvt.2019.2910540

Cited by 75 publications

(46 citation statements)

References 21 publications

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“…Rreferences [9][10][11][12][13] Sliding mode control for uncertain SbW systems with disturbance Rreferences [14,15] Model predictive control for SbW systems with actuator fault…”

Section: Rreferencementioning

confidence: 99%

“…(3) From the perspective of control method design: An observer-based event-triggered fixed-time control is proposed for uncertain SbW systems regardless of the initial tracking error. 1) Compared with SbW control systems [9][10][11][12][13][14][15], the unnecessary sensor can be removed and CAN communication resources can be saved, 2) compared with event-triggered output feedback control [28,31,40], the prespecified tracking performance can be achieved within fixed time, so both the transient and steady performance of closed-loop systems can be guaranteed, and 3) compared with [27], the bounds of the initial state of the controlled system is no longer required.…”

Section: Fixed Thresholdmentioning

confidence: 99%

“…Significant contributions have been made to the literature of SbW control systems; see, e.g., [6][7][8][9][10][11][12][13][14][15] and the references therein. Representatively, the model-based control method, such as proportional-integral-derivative control [6], proportional-derivative control with feedforward compensation [7], and model predictive control [8] are nvestigated for SbW systems.…”

Section: Introductionmentioning

confidence: 99%

“…Considering the SbW system's parametric uncertainties and disturbances, the fairly accurate state model and robust sliding mode control are first reported in [9]. Then, the adaptive sliding mode control method of SbW systems is investigated in [10][11][12][13] without a priori bounds of uncertainties and disturbances. References [14,15] address the active fault-tolerant control problem of SbW systems subject to modeling uncertainties and disturbances with a priori bounds.…”

Section: Introductionmentioning

confidence: 99%

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Event-Triggered Fixed-Time Control for Steer-by-Wire Systems With Prespecified Tracking Performance

Ma¹,

Luo²,

Wang³

2021

Preprint

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This paper addresses the event-triggered output feedback control problem for (steer-by-wire) SbW systems with uncertain nonlinearity and time-varying disturbance. First, a new framework of event-triggered control systems is proposed to eliminate the jumping phenomenon of event-based control input, and the trade-off between saving communication resources and attenuating jumping phenomenon can be removed. Then, the adaptive disturbance observer and fuzzy-based state observer are developed to estimate the external disturbanceand unavailable state of augmented SbW systems, respectively. Third, an event-triggered fixed-time control is developed for SbW systems to achieve prespecified tracking accuracy while saving communication resources of the controller area network (CAN). Furthermore, theoretical analysis based on Lyapunov stability theory is provided to verify the tracking error of SbW systems can converge to the prespecified neighborhood of the origin in fixed time regardless of the initial tracking error. Finally, simulations and experiments are given to evaluate the effectiveness and superiority of the proposed methods.

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“…Rreferences [9][10][11][12][13] Sliding mode control for uncertain SbW systems with disturbance Rreferences [14,15] Model predictive control for SbW systems with actuator fault…”

Section: Rreferencementioning

confidence: 99%

Section: Fixed Thresholdmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Event-Triggered Fixed-Time Control for Steer-by-Wire Systems With Prespecified Tracking Performance

Ma¹,

Luo²,

Wang³

2021

Preprint

View full text Add to dashboard Cite

show abstract

“…Various research studies have focused on the trajectory planning and motion control of autonomous driving technologies [4][5][6]. In order to achieve good results in the respective lane change maneuvers, most of these proposed cooperative planning algorithms for autonomous driving employed a rule-based control [7,8] or an optimization-based control [2,9].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Qiao

2020

Applied Sciences

Self Cite

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A lane change is one of the most important driving scenarios for autonomous driving vehicles. This paper proposes a safe and comfort-oriented algorithm for an autonomous vehicle to perform lane changes on a straight and level road. A simplified Gray Prediction Model is designed to estimate the driving status of surrounding vehicles, and time-variant safety margins are employed during the trajectory planning to ensure a safe maneuver. The algorithm is able to adapt its lane changing strategy based on traffic situation and passenger demands, and features condition-triggered rerouting to handle unexpected traffic situations. The concept of dynamic safety margins with different settings of parameters gives a customizable feature for the autonomous lane changing control. The effect of the algorithm is verified within a self-developed traffic simulation system.

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Robust adaptive control of steer‐by‐wire systems under unknown state‐dependent uncertainties

Shukla

Roy

Gupta

2021

Adaptive Control & Signal

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Steer-by-wire (SBW) systems are considered as one of the most significant innovations among the technologies developed for advanced driver-assistance systems and autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties and external disturbances; 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. This work, to the best of the authors' knowledge for the first time, proposes an adaptive control framework that can 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.

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Active Tracking Control for Steer-by-Wire System With Disturbance Observer

Cited by 75 publications

References 21 publications

Event-Triggered Fixed-Time Control for Steer-by-Wire Systems With Prespecified Tracking Performance

Event-Triggered Fixed-Time Control for Steer-by-Wire Systems With Prespecified Tracking Performance

Trajectory Planning with Time-Variant Safety Margin for Autonomous Vehicle Lane Change

Robust adaptive control of steer‐by‐wire systems under unknown state‐dependent uncertainties

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