Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

Sarah 'Atifah Saruchi,Sheikh Muhammad Hafiz Fahami,Mohd Hanif Che Hasan,Mohd Hatta Mohammed Ariff,Hairi Zamzuri,Noraishikin Zulkarnain

doi:10.11591/eei.v8i2.1228

Abstract

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.

Highlights

The removal of mechanical linkages between the steering wheel and the front wheel system in aSteer-by-Wire (SBW) assembly can overcome the limitations of a traditional steering system [1]
A Composite Nonlinear Feedback (CNF) controller is one of the various controllers that have been applied in an Active Front Steering (AFS) system
Saruchi et al introduced a combination of a CNF and a disturbance observer (DOB) to form a robust CNF controller to cater for side wind disturbance effects in yaw rate tracking control [17]

Summary

Introduction

The removal of mechanical linkages between the steering wheel and the front wheel system in aSteer-by-Wire (SBW) assembly can overcome the limitations of a traditional steering system [1]. AFS is commonly utilised for yaw rate tracking control to enhance the manoeuvrability of the vehicle. CNF has strong capability in achieving a fast yaw rate tracking performance with minimal overshoot [3,4,5,6,7]. CNF is not robust with regard to disturbances. Hassan et al combined a reduced-order observer into the basic CNF design to eliminate disturbances in an AFS system [14]. Saruchi et al introduced a combination of a CNF and a disturbance observer (DOB) to form a robust CNF controller to cater for side wind disturbance effects in yaw rate tracking control [17].

Methods

Results

Conclusion