Robust adaptive control of steer‐by‐wire systems under unknown state‐dependent uncertainties. (4th May 2021)

• Record Type: Journal Article
• Authors: Shukla, Harsh; Roy, Spandan; Gupta, Satyam
• Other Names: Baldi Simone guestEditor.; Kosmatopoulos Elias guestEditor.; Roy Spandan guestEditor.; Yuan Shuai guestEditor.; Roy Sayan Basu guestEditor.; Li Le guestEditor.
• Is Part Of: International journal of adaptive control and signal processing. Volume 36:Number 2(2022)
• Page Start: 198
• Page End: 208
• Publication Date: 2021-05-04
• Subjects: adaptive control -- autonomous car -- steer‐by‐wire system -- unknown uncertainty bounds; Adaptive control systems -- Periodicals; Adaptive signal processing -- Periodicals; 629.836
• DOI: 10.1002/acs.3260
• Languages: English
• ISSNs: 0890-6327

Abstract

Summary: Steer‐by‐wire (SBW) systems are considered as one of the most significant innovations among the technologies developed for advanced driver‐assistance systems and autonomous vehicles. The main control challenge in a SBW system is to follow the steering commands in the face of parametric uncertainties and external disturbances; crucially, perturbations in inertial parameters and damping forces give rise to state‐dependent uncertainties, which cannot be bounded a priori by a constant. However, the state‐of‐the‐art control methods of SBW system rely on a priori bounded uncertainties, and thus, become inapplicable when state‐dependent dynamics become unknown . This work, to the best of the authors' knowledge for the first time, proposes an adaptive control framework that can tackle the state‐dependent uncertainties and external disturbances in a typical SBW system without any a priori knowledge of their structures and of their bounds. The stability of the closed‐loop system is studied analytically via uniformly ultimately bounded notion and the effectiveness of the proposed solution is verified via simulations against the state‐of‐the‐art solution.