Robust Control for Steer-by-Wire Vehicles

Abstract

The design and analysis of steer-by-wire systems at the actuation and operational level is explored. At the actuation level, robust force feedback control using inverse disturbance observer structure and active observer algorithm is applied to enhance the robustness vs non-modelled dynamics and uncertain driver bio-impedance. At the operational level, the robustness aspects vs parameter uncertainties in vehicle dynamics and driver bio-impedance are issued and for a given target coupling dynamics between driver and vehicle the design task is converted to a model-matching problem. H8 techniques and active observer algorithms are used to design the steer-by-wire controller. Robustness issues at both levels are covered by mapping stability bounds in the space of physical uncertain parameters.