Robust sliding mode control for steer-by-wire systems in ground vehicles

This paper develops a robust sliding mode control scheme for the Steer-by-Wire (SbW) systems with uncertain dynamics. Based on the equivalent second-order model of an SbW system, a sliding mode controller can be designed based on the bound information of uncertain system parameters, uncertain self-aligning torque and uncertain torque pulsation disturbances, in the sense that not only the strong robustness with respect to large and nonlinear system uncertainties can be obtained, but also the front wheel steering angle can converge to the hand-wheel reference angle asymptotically. The experimental results are demonstrated in support of the excellent performance and effectiveness of the developed control scheme