Nonlinear dual-motor steer-by-wire system cooperative control via fixed-time command-filtered.

Area of Science:

• Automotive Engineering
• Control Systems
• Robotics

Background:

• Steer-by-wire (SBW) systems offer advantages but face reliability challenges.
• Dual-motor steer-by-wire (DMSBW) systems aim to improve SBW reliability.
• Nonlinearities in DMSBW systems cause motor coordination problems.

Purpose of the Study:

• To develop a robust control strategy for DMSBW systems.
• To address nonlinearities including aligning torque, friction, and backlash.
• To achieve high-precision cooperative operation in DMSBW systems.

Main Methods:

• Established a nonlinear model of the DMSBW system.
• Employed a high-gain observer (HGO) for estimating nonlinear torques.
• Designed a fixed-time robust backstepping controller with a compensation signal.
• Integrated a command filter to enhance control accuracy.

Main Results:

• The HGO accurately estimated nonlinear torques.
• The fixed-time controller effectively compensated for backlash nonlinearities.
• The proposed strategy achieved high-precision cooperative control.
• Hardware-in-the-loop experiments validated the system's performance.

Conclusions:

• The fixed-time command-filtered cooperative control strategy enhances DMSBW system reliability.
• The approach successfully manages nonlinear dynamics and improves coordination.
• This method provides a viable solution for robust steer-by-wire control.