Adaptive higher-order sliding mode control for SbW system

被引：0
作者：
Li H.-J. [1 ,3 ]
Wang Z.-Z. [2 ]
Wang Y.-F. [1 ]
机构：
[1] College of Mechanical Engineering and Automation, Northeastern University, Shenyang
[2] School of Automation Science and Electrical Engineering, Beihang University, Beijing
[3] College of Mechanical Engineering, Ningxia Institute of Science and Technology, Shizuishan
来源：
Kongzhi yu Juece/Control and Decision | 2021年 / 36卷 / 06期
关键词：
Adaptive fuzzy logic system; Adaptive higher-order sliding mode control; Hardware-in-the-loop experiments; Lyapunov stability; Steer-by-wire;
D O I：
10.13195/j.kzyjc.2019.1526
中图分类号：
学科分类号：
摘要：
The uncertain dynamic model of friction torque and self-aligning torque in the steer-by-wire(SbW) system makes it difficult to achieve accurate modeling and effective control. Therefore, an adaptive higher-order sliding mode (AHOSM) control method based on the adaptive fuzzy logic system(FLS) is proposed to control the SbW system effectively. Firstly, the adaptive FLS is employed to approximate the unknown dynamics of the SbW system, so that the dynamic models of the friction torque and self-aligning torque are no longer needed in the design of the controller. Then, the higher-order sliding mode and dynamical gain technique are introduced to reduce chattering in traditional sliding mode controllers. In addition, the gain adaptive law obtained from the Lyapunov function is adopted to compensate the influence of approximation error and system uncertainties on the control precision, which does not require priori knowledge of the bounds of the uncertainties and can avoid the gain-overestimation phenomenon. Finally, the stability analysis shows that the real sliding mode can be established in finite time. Simulation results and hardware-in-the-loop(HIL) experiments further demonstrate the effectiveness and superiority of the proposed control strategy. Copyright ©2021 Control and Decision.
引用
收藏
页码：1529 / 1536
页数：7
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