Stability control of steer by wire system based on improved ADRC

Abstract

In this paper, a stability control method based on active front steering control is proposed to steer by wire system (SBW). The proposed control system consists of an inner-loop angle tracking controller and an outer-loop controller. The inner-loop controller contributes to front steering angle tracking, and it is designed by PID control. The outer-loop controller restrains the effect of disturbance by feeding a compensation steering angle, and it is designed by using Improved Active Disturbances Rejection Control (IADRC) with less adjusted parameters than Active Disturbances Rejection Control (ADRC). Finally, the effectiveness of the proposed method is evaluated via numerical simulation and vehicle test. The obtained results show that the proposed controller can improve the handling stability of the SBW system. To a certain extent, the study results promote the research and application of SBW system.