Nonlinear Tracking Controller Design for
Steer-by-Wire Automotive Systems

Problem Motivation

In Hybrid Vehicles, the engine may be cycled on/off to save fuel. Hence Hydraulic steering systems are not feasible. Available power limitations mandate efficient technologies.

The “Brake-by-Wire” and “Steer-by-Wire” systems are being considered for their,

  Efficiency : Reduces load on the engine

  Safety : Limits can be set to avoid spin and topple.

  Non-polluting nature : No hydraulic fluids.

  Flexibility : Autonomous control possible.

Advanced positioning systems can calculate the position of a vehicle with high accuracy over large areas.


System Description & Control Problem

  Tire-road interface generate the forces on the vehicle body.

  These forces are in-turn controlled by the throttle pedal and steer angle.

  Track trajectory in the global coordinate frame.

  Reference trajectory specifies cartesian position and orientation.

  Control commands wheel speed and steering angle.


Control Strategy




Numerical Results

Fig. 1 Desired trajectories to execute a J - Turn Maneuver

Fig. 2 Position errors


References
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