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WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control

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Published on: August 15, 2020

Adaptive sliding mode control for 4-wheel SBW system with Ackerman geometry.

Changrui Liu¹, Weichao Sun¹, Jinhua Zhang¹

¹Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China.

ISA Transactions

|July 20, 2019

Summary

This study introduces an adaptive integral terminal sliding mode control (AITSMC) for 4-wheel steer-by-wire (4WSBW) systems in electric vehicles. The novel control ensures robust, finite-time convergence of steering angles, improving vehicle performance.

Keywords:

4 wheel vehicles Ackerman geometry Adaptive control Sliding mode control Steer-by-Wire

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Area of Science:

Automotive Engineering
Control Systems Theory
Robotics

Background:

Electric vehicles (EVs) increasingly utilize advanced steering systems.
Steer-by-Wire (SBW) technology offers enhanced control and integration possibilities.
Developing robust control for 4-wheel steering (4WS) is crucial for EV maneuverability.

Purpose of the Study:

To extend front-wheel Steer-by-Wire (SBW) modeling to a 4-wheel SBW (4WSBW) system for electric vehicles.
To present a novel Adaptive Integral Terminal Sliding Mode Control (AITSMC) scheme for precise wheel angle control.
To validate the AITSMC scheme's superiority over PID, TSMC, and ATSMC through simulations.

Main Methods:

Development of a 4WSBW system model incorporating Ackerman Geometry.
Design of an AITSMC scheme for single-wheel and four-wheel steering control.
Stability analysis using Lyapunov criterion to guarantee finite-time convergence of tracking errors.
Comparative simulation study against PID, TSMC, and ATSMC controllers.

Main Results:

The AITSMC scheme ensures robustness and finite-time convergence without needing disturbance information (road conditions, friction).
Improved tracking accuracy and suppressed noise impact from sensors are achieved.
Significant enhancement in the synthesized performance of 4WSBW electric vehicles demonstrated through simulations.

Conclusions:

The proposed AITSMC scheme offers superior performance for 4WSBW systems compared to existing methods.
Finite-time convergence and robustness against uncertainties are key advantages of the AITSMC.
The AITSMC scheme is a promising control strategy for advanced electric vehicle steering systems.