Extended state observer based fractional order sliding mode control for steer-by-wire systems

被引：8

作者：

Shi, Quangang ^{[1
]}

He, Shuping ^{[1
,7
]}

Wang, Hai ^{[2
]}

Stojanovic, Vladimir ^{[3
,8
]}

Shi, Kaibo ^{[4
]}

Lv, Wenjun ^{[5
,6
]}

机构：

[1] Anhui Univ, Sch Elect Engn & Automat, Informat Mat & Intelligent Sensing Lab Anhui Prov, Hefei, Peoples R China

[2] Murdoch Univ, Ctr Water Energy Waste, Discipline Engn & Energy, Perth, Australia

[3] Univ Kragujevac, Fac Mech & Civil Engn, Dept Automat Control Robot & Fluid Tech, Kraljevo 36000, Serbia

[4] Chengdu Univ, Sch Elect Informat & Elect Engn, Chengdu, Peoples R China

[5] Hefei Comprehens Natl Sci Ctr, Inst Artificial Intelligence, Hefei, Peoples R China

[6] Univ Sci & Technol China, Dept Automat, Hefei, Anhui, Peoples R China

[7] Anhui Univ, Sch Elect Engn & Automat, Informat Mat & Intelligent Sensing Lab Anhui Prov, Hefei 230601, Peoples R China

[8] Univ Kragujevac, Fac Mech & Civil Engn, Dept Automat Control Robot & Fluid Tech, Kraljevo, Serbia

来源：

IET CONTROL THEORY AND APPLICATIONS | 2023年 / 18卷 / 17期

关键词：

observers; robust control; steering systems; tracking; variable structure systems; TRACKING CONTROL;

D O I：

10.1049/cth2.12569

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an extended state observer based fractional-order sliding mode control strategy is studied for vehicle steer-by-wire systems (SBWSs). The parameter perturbation and external interference are considered in the dynamic model of SBWSs. A fractional-order sliding mode control scheme is designed to solve the tracking problem and improve the control performance. An extended state observer is further used to estimate the lumped disturbance, and then the estimated value is considered as a feedforward compensation to reduce the chattering phenomenon. Finally, comparison simulation results show that the excellent steering tracking and strong robustness performance have been achieved by the proposed control strategy for SBWSs. A fractional-order sliding mode control with extended state observer strategy is studied to control a vehicle steer-by-wire system. It investigates the dynamic equation of motion of steer-by-wire system with lumped disturbance. An extended state observer is used to estimate the lumped disturbance and provide with a compensation.image

引用

页码：2287 / 2295

页数：9

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