International Journal of Automotive Technology

, Volume 19, Issue 1, pp 159–166 | Cite as

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

  • Xiaodong Wu
  • Mingming Zhang
  • Min Xu
  • Yo Kakogawa


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.


Steer-by-wire Online parameter estimator Feedforward control 


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany 2018

Authors and Affiliations

  • Xiaodong Wu
    • 1
  • Mingming Zhang
    • 1
  • Min Xu
    • 1
  • Yo Kakogawa
    • 2
  1. 1.Institute of Automotive Engineering, School of Mechanical EngineeringShanghai Jiaotong UniversityShanghaiChina
  2. 2.Department of Electronic Engineering, College of Science and EngineeringRitsumeikan UniversityKusatsuJapan

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