期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 72, 期 5, 页码 5906-5921出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2022.3233621
关键词
Wheels; Torque; Steady-state; Transient analysis; Friction; Automobiles; Angular velocity; Steer-by-wire (SbW); prescribed performance; adaptive neural network; output feedback; composite learning
This article addresses the steering control problem for steer-by-wire (SbW) systems subject to uncertainties, disturbances, and unavailable variables. An adaptive neural network-based observer and a disturbance observer are constructed to estimate the angular velocity signal and the compound disturbance. The controller is designed based on the backstepping scheme and a composite learning scheme for uncertainty approximation using neural networks. The Lyapunov stability theory shows the bounded signals and convergence of the tracking error within a preset range.
This article addresses the steering control problem for steer-by-wire (SbW) systems subject to the unknown uncertainty, external disturbance and unavailable variable. Before the controller design, an adaptive neural network-based observer and a disturbance observer are constructed to estimate the angular velocity signal and the compound disturbance, respectively. Then, to guarantee the transient and steady-state performance of steering tracking error within the quantitative boundary, a prescribed performance function is constructed by user-designed tracking accuracy and settling time. Finally, the controller is designed based on the backstepping scheme and the neural network with a composite learning scheme is proposed for the approximation of lumped uncertainty. The Lyapunov stability theory shows that the signals involved in the system are semi-global uniformly ultimately bounded and the tracking error converges to a preset range at finite time. Different numerical simulations and experiments are implemented to verify the effectiveness of the developed control scheme.
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