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Updated: Nov 4, 2025

WheelCon: A Wheel Control-Based Gaming Platform for Studying Human Sensorimotor Control
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Observer-based event-triggered type-2 fuzzy control for uncertain steer-by-wire systems.

Bingxin Ma1, Pengxu Li1, Yongfu Wang1

  • 1School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China.

ISA Transactions
|May 23, 2021
PubMed
Summary

This study introduces an adaptive event-triggered sliding mode control for uncertain steer-by-wire systems, enhancing steering performance and saving communication resources. The novel approach guarantees system stability without needing initial tracking error conditions.

Keywords:
Event-triggered communicationFixed-time controlInterval type-2 fuzzy logic system (IT2 FLS)Sliding mode observerSteer-by-wire (sbW)Vehicle experiment

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Area of Science:

  • Automotive Engineering
  • Control Systems
  • Fuzzy Logic Systems

Background:

  • Steer-by-wire (SbW) systems face challenges with uncertain nonlinearities, unavailable variables, and communication constraints.
  • Controller Area Network (CAN) communication in SbW systems can be resource-intensive.
  • Ensuring robust tracking control and stability in SbW systems is critical for vehicle safety and performance.

Purpose of the Study:

  • To develop an advanced control strategy for uncertain SbW systems.
  • To address the estimation of unavailable variables and system nonlinearities.
  • To improve steering performance while optimizing CAN communication usage.

Main Methods:

  • An adaptive interval type-2 fuzzy logic system (IT2 FLS) was designed for nonlinearity estimation.
  • A sliding mode observer was employed to estimate unavailable system variables.
  • An event-triggered sliding mode control (ET-SMC) strategy was developed, incorporating dynamic gain and nested technologies.

Main Results:

  • The proposed IT2 FLS and sliding mode observer effectively estimated uncertain nonlinearities and unavailable variables.
  • The ET-SMC achieved transient steering performance and reduced CAN communication load.
  • The control scheme effectively mitigated estimation errors and the chattering phenomenon.
  • Practical fixed-time stability of the closed-loop SbW system was guaranteed, irrespective of initial tracking errors.

Conclusions:

  • The developed control scheme provides a robust and efficient solution for uncertain SbW systems.
  • The integration of IT2 FLS, sliding mode observer, and ET-SMC offers significant advantages in performance and resource management.
  • Simulation and experimental results validate the effectiveness and practical applicability of the proposed control strategy.