Controller synthesis for steer-by-wire system performance in vehicle

• Main Authors: El Fezazi, Nabil, Tissir, El Houssaine, El Haoussi, Fatima, Bender, Fernando Augusto, Husain, Abdul Rashid
• Format: Article
• Published: Springer International Publishing 2019
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://eprints.utm.my/id/eprint/88260/; http://dx.doi.org/10.1007/s40998-019-00204-8

A controller with anti-windup compensator is proposed in this paper, for coping with the saturating nature where the delays are included in certain parts of the state-space representation and the perturbation must be rejected effectively to achieved the desired performance using a steer-by-wire technology that is a technique to eliminate the mechanical linkage between the steering and the front wheels. Then, a simplified and detailed description of this technology is discussed to establish a linearized mathematical model in order to ensure the robust stability of a vehicle under the complicated condition of work and road. By incorporating the delay-decomposition technique, the generalized sector condition and the Finsler's lemma, sufficient conditions in the form of LMIs are derived to satisfy the H∞ control based on the Lyapunov–Krasovskii (L–K) functional. The simulation results are presented to show that high performance and robustness are achieved.