Controller Synthesis for Steer-by-Wire System Performance in Vehicle

A controller with anti-windup compensator is proposed in this paper, for coping with the saturating nature where the delays are included in certain parts of the state-space representation and the perturbation must be rejected effectively to achieved the desired performance using a steer-by-wire technology that is a technique to eliminate the mechanical linkage between the steering and the front wheels. Then, a simplified and detailed description of this technology is discussed to establish a linearized mathematical model in order to ensure the robust stability of a vehicle under the complicated condition of work and road. By incorporating the delay-decomposition technique, the generalized sector condition and the Finsler's lemma, sufficient conditions in the form of LMIs are derived to satisfy the H∞\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$H_{\infty }$$\end{document} control based on the Lyapunov–Krasovskii (L–K) functional. The simulation results are presented to show that high performance and robustness are achieved.