A model-tuned backstepping control approach for angle demand following of steer-by-wire system

Abstract

The design of the backstepping control requires setting up a stepping-parameter for every stepping-manifold, making it converge rapidly more importantly. In this article, a set of variable stepping-parameters are developed for backstepping control, which is solved by finding the optimal solution of a cost function in a receding horizon. The cost function is designed to remove the error between the system model and the real-world, the algorithm of which is called model tuning control. Here we discuss a series of studies on the algorithm of the adaptive stepping-parameters that, collectively, develop an algorithm of how the error is eliminated to find a set of variable stepping-parameters. The algorithm is downloaded into a steering control unit and deployed in a steering test vehicle for the validation. According to the experimental results, it is concluded that the developed algorithm is a good candidate for the angle demand following of steer-by-wire system.

Keywords:

• Variable stepping-parameters
• stepping-manifold
• model tuning control
• receding horizon
• steering control unit

Disclosure statement

The authors declare that they have no conflicts of interest in this work. We still declare that we do not have any commercial or associative interest that represents a conflict of interest in connection with the work submitted.

Additional information

Funding

This work was supported by the Key Research and Development Program of Jiangsu Province [grant number BE2021006-2] and the Foundation of State Key Laboratory of Automotive Simulation and Control [grant number 20201107].