Abstract
An adaptive second order recursive terminal sliding mode (SO-RTSM) is developed for the steering angle control of a four-wheel independent steer-by-wire (4WI-SbW) system. A recursive sliding mode structure is presented based on which the reaching phase is eliminated. Moreover, the finite time convergence of the tracking error is guaranteed compared to common integral sliding mode control (ISMC). Furthermore, to suppress chattering, instead of a first-order sliding mode used in a conventional ARTSM controller, a second order nonsingular terminal sliding mode is adopted such that reaching control input is obtained in an integral form. The advantage of the proposed controller is that the chattering can be effectively reduced without decreasing the control accuracy. Experiments are carried out on a real 4WI-SbW vehicle to demonstrate the fast convergence rate and small chattering of the proposed controller.
Highlights
Steer-by-wire (SbW) system has been investigated in many works because of its advantages of an active steering operation
In this paper, activated by high order sliding mode (HOSM), an adaptive second order recursive terminal sliding mode (SO-RTSM) control method is proposed for the 4WI-SbW system
VOLUME 8, 2020 (b) A second order nonsingular terminal sliding mode is introduced in the RTSM, based on which the reaching control input is achieved in an integral form of the signum function instead of a conventional switching term as that in adaptive recursive terminal sliding mode (ARTSM), which can effectively suppress chattering
Summary
Steer-by-wire (SbW) system has been investigated in many works because of its advantages of an active steering operation. In this paper, activated by HOSM, an adaptive second order recursive terminal sliding mode (SO-RTSM) control method is proposed for the 4WI-SbW system. To verify the superior advantages of fast convergence rate and small chattering of the proposed controller, experiments are conducted on a real 4WI-SbW vehicle compared to a conventional ARTSM controller. (a) A recursive sliding mode structure is developed such that the reaching phase is eliminated and the finite time convergence of the tracking error to zero is ensured compared to ISMC. (b) A second order nonsingular terminal sliding mode is introduced in the RTSM, based on which the reaching control input is achieved in an integral form of the signum function instead of a conventional switching term as that in ARTSM, which can effectively suppress chattering.
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