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Active steering stability control of steer-by-wire vehicles based on variable horizon-robust model predictive control

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Abstract

The steer-by-wire (SBW) system can not only satisfy the ability to freely switch between manual and automatic driving modes of intelligent vehicles, but also has the advantage of variable transmission ratio. Based on the traditional mode predictive control (TMPC), a variable horizon-robust model predictive control (VRMPC) is designed which considers the adaptive optimization of the predictive horizon and the uncertainty of the control system. The simulation test of active steering controller based on VRMPC, TMPC and Improved Active Disturbances Rejection Control (IADRC) is carried out under typical working conditions and verified by hardware-in-the-loop test. The experimental results show that compared with TMPC and IADRC, the active steering controller based on VRMPC can improve the vehicle stability under different conditions and expand the range of stability control.

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Funding

The author(s) disclosed receipt of the following financial support for the research, authorship, and or publication of this article: This work was supported by the National Nature Science Foundation of China under Grants 51805133 and 52275100, and the National Key Research and Development Program under Grant 2021YFE0116600.

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Authors and Affiliations

  1. School of Mechanical Engineering, Hefei University of Technology, Hefei, China

    Wenbin Shao & Yanping Hu

  2. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei, China

    Xinqing Liang, Ting Fang & Linfeng Zhao

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  1. Wenbin Shao
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  2. Xinqing Liang
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  3. Ting Fang
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  4. Linfeng Zhao
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  5. Yanping Hu
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Corresponding author

Correspondence to Linfeng Zhao.

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The author(s) declared no potential conflicts of interest with respect to the research, authorship, and/or publication of this article.

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Technical Editor: Rogério Sales Gonçalves.

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Shao, W., Liang, X., Fang, T. et al. Active steering stability control of steer-by-wire vehicles based on variable horizon-robust model predictive control. J Braz. Soc. Mech. Sci. Eng. 45, 410 (2023). https://doi.org/10.1007/s40430-023-04316-5

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  • DOI: https://doi.org/10.1007/s40430-023-04316-5

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