Steering angle tracking control of steer-by-wire system with prescribed performance under primary sensor failure

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-04-10 DOI:10.1016/j.conengprac.2025.106354

Xin Zhao, Linhui Zhao

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引用次数: 0

Abstract

A key challenge of steer-by-wire systems is that they require a desired steering angle to be followed accurately. In this paper, a steering tracking control method with prescribed performance under sensor failure is proposed to enhance the tracking performance and reliability of steering execution. To mitigate the adverse effect of the coupled steering resistance moment and estimate the unmeasured state variable, a rack force estimator based on an extended disturbance observer is developed. By designing a new preset time performance function, the tracking error is guaranteed to converge to a predefined quantitative constraint within a preset time. Notably, the convergence time and the tracking accuracy can be set arbitrarily, independent of system parameters and initial states. The present study presents a fast fault detection method and formulated corresponding fault-tolerant strategies, aiming to ensure the continued proper functioning of steering tracking control in the event of sensor failures. Through verification and comparison with hardware-in-the-loop experiments, the proposed method achieves high transient and high-precision tracking performance even under aggressive steering and sensor failure conditions, while being easily embedded applied in engineering practice.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.