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Adaptive feedforward control of a steer-by-wire system by online parameter estimator

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Abstract

The tracking control of the steer-by-wire (SBW) system to achevie desired steering motion is the core issue for the design of algorithm. Most of model-based tracking control assumed the constant parameters without the consideration of dynamic characteristics. The external disturbances and model nonlinearities can bring uncertainties of the system parameters. To reduce the influence of parameter uncertainties, an online estimator by output error identification method is proposed to estimate the dynamic parameters of a SBW system. Meanwhile, the parameter gradient projection method is applied to eliminate the parameter drift, while a full order state observer is developed to weaken the effects of noise disturbance during the parameter identification. Since the sensitivity of parameter uncertainties for the feedforward control, the online estimator is incorporated into the control model and improve the controlled robustness. The proposed adaptive feedforward controller is conducted by the real-time experiments to show the tracking performance.

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Authors and Affiliations

  1. Institute of Automotive Engineering, School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Xiaodong Wu, Mingming Zhang & Min Xu

  2. Department of Electronic Engineering, College of Science and Engineering, Ritsumeikan University, Kusatsu, 525-8577, Japan

    Yo Kakogawa

Authors
  1. Xiaodong Wu
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  2. Mingming Zhang
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  3. Min Xu
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  4. Yo Kakogawa
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Correspondence to Xiaodong Wu.

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Wu, X., Zhang, M., Xu, M. et al. Adaptive feedforward control of a steer-by-wire system by online parameter estimator. Int.J Automot. Technol. 19, 159–166 (2018). https://doi.org/10.1007/s12239-018-0015-2

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  • DOI: https://doi.org/10.1007/s12239-018-0015-2

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