Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control
Sarah 'Atifah Saruchi, Mohd Hatta Mohammed Ariff, Hairi Zamzuri, Noraishikin Zulkarnain, Mohd Hanif Che Hasan, Sheikh Muhammad Hafiz Fahami
Abstract
Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.
Keywords
disturbance observer; hardware-in-loop; nonlinear steer-by-wire vehicle; robust composite; nonlinear feedback; yaw rate tracking control;
DOI:
https://doi.org/10.11591/eei.v8i1.1228
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Bulletin of EEI Stats
Bulletin of Electrical Engineering and Informatics (BEEI) ISSN: 2089-3191, e-ISSN: 2302-9285 This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU) .