Sliding mode learning compensator-based robust control of automotive steer-by-wire systems

In this paper, a new robust control scheme is proposed for automotive steer-by-wire (SBW) systems. It is shown that the proposed control scheme consists of one nominal controller and one sliding mode learning compensator (SMLC) using the recently developed sliding mode learning control technique. It is established that the developed SMLC does not require any information of lumped uncertainty such that the effects of the lumped uncertainty can be effectively alleviated. The numerical simulation results of two driving cases are presented to show good steering performance and strong robustness of the closed-loop system with the proposed control regarding road uncertainties