Finite-time Robust Anti-disturbance Control for Steer-by-wire System

doi:10.16182/j.issn1004731x.joss.24-1370

Abstract

Abstract:

To eliminate the influence of parameter perturbations and external disturbances on the wheel angle tracking control performance of steer-by-wire (SbW) system, a fractional-order integral terminal sliding mode control scheme based on a finite-time disturbance observer is proposed. A sliding mode-based second order finite-time disturbance observer (FDO) is designed to precisely estimate the total disturbance of the SbW system, and the estimated total disturbance is compensated into the system control input to reduce the wheel angle tracking error. A fractional-order fast integral terminal sliding mode control (FOFITSMC) scheme is designed to ensure fast convergence of the wheel angle tracking error and achieve the suppression of chattering. Results demonstrate that the proposed control strategy improves the MAE and RMSE of angle tracking by over 25% compared to PI, FOFITSMC, and NASTSMC strategies, and has better control accuracy and robustness. The control scheme proposed in the paper provides theoretical reference for the design of SbW system controllers in actual engineering.

Key words: SbW system, finite-time observer, fractional order, terminal sliding mode control, wheel angle tracking

CLC Number:

TP391

Zhang Jingyi, Chen Xin, Ding Jingang, Luo Jianguo, Feng shuo. Finite-time Robust Anti-disturbance Control for Steer-by-wire System[J]. Journal of System Simulation, 2025, 37(6): 1376-1387.

Figures/Tables 12

Fig. 1

Fig. 2

Fig. 3

Table 1

Parameters of SbW system

参数	数值	参数	数值
$I d s / (k g ⋅ m 2)$	2.6	$B f s / ((N ⋅ m ⋅ s) / r a d)$	0.038
$B d s / ((N ⋅ m ⋅ s) / r a d)$	12	$m 2 / m 1$	3
$I f s / (k g ⋅ m 2)$	0.021 29	$η$	6

Table 1

Table 2

Parameters of proposed control strategy

参数	数值	参数	数值
$η 1$	391	$p$	19
$η 2$	16	$q$	13
$η 3$	0.95	$μ$	0.8
$ϕ$	270	$k$	0.7
$α$	17	$κ$	0.4

Table 2

Fig. 4

Table 3

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Table 4

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控制策略	MAE	RMSE
FDO-FOFITSMC	0.003 0	0.003 5
FOFITSMC	0.004 1	0.004 7
NASTSMC	0.004 6	0.005 5
PI	0.005 9	0.006 7

工况	控制策略	MAE	RMSE
Ⅰ	FDO-FOFITSMC	0.001 1	0.001 4
	FOFITSMC	0.002 7	0.003 2
	NASTSMC	0.001 3	0.001 5
	PI	0.003 0	0.003 7
Ⅱ	FDO-FOFITSMC	0.001 2	0.001 7
	FOFITSMC	0.002 5	0.003 5
	NASTSMC	0.002 0	0.002 4
	PI	0.002 0	0.002 6
Ⅲ	FDO-FOFITSMC	0.000 8	0.001 0
	FOFITSMC	0.001 8	0.002 0
	NASTSMC	0.001 7	0.001 8
	PI	0.002 8	0.003 5

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