Adaptive Integral Sliding Mode Controller (SMC) Design for Vehicle Steer-by-Wire System

Abstract

<div>This article considers the application of a robust control technique for vehicle steer-by-wire (VSbW) system subjected to variations in parameters based on adaptive integral sliding mode control (AISMC). The AISMC has been designed to control the VSbW system to cope with the uncertainties in system parameters. The proposed adaptive control scheme provides the solution for perturbation boundedness, as there is no need to have a prior knowledge of perturbation bound in the uncertainty. In addition, the proposed adaptive control design can avoid overestimation of sliding gain under unknown prior knowledge of perturbations. Moreover, the inclusion of integral sliding mode control (ISMC) leads to elimination of the reaching phase in trajectory solution of controlled system. Computer simulations have been used to verify the effectiveness of proposed AISMC to show the superiority of the proposed control technique; in this regard, a comparison between AISMC and other control methods from the literature were conducted. The numerical simulation based on MATLAB programming software showed that the designed AISMC has better tracking performance and accuracy as compared to ISMC and other control schemes in terms of robustness characteristics.</div>