Ma Bingxin, Li Pengxu, Wang Yongfu
School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China.
School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110819, China.
ISA Trans. 2022 Mar;122:472-485. doi: 10.1016/j.isatra.2021.04.039. Epub 2021 May 8.
This paper addresses the tracking control problem for the uncertain steer-by-wire (SbW) system with the controller area network (CAN) communication and unavailable variables. First, an adaptive interval type-2 fuzzy logic system (IT2 FLS) and sliding mode observer are constructed to estimate the uncertain nonlinearity and unavailable variables of SbW control systems. Further, an event-triggered sliding mode control (ET-SMC) is presented to achieve the transient steering performance of SbW systems while saving CAN communication resources. Much importantly, the dynamic gain and nested technologies are incorporated in this scheme to deal with estimation error and the chattering phenomenon of the sliding mode control system. It is shown that the practical fixed-time stability of the closed-loop system can be guaranteed without the initial condition of tracking errors. Finally, simulations and vehicle experiments are presented to verify the designed scheme.
本文研究了具有控制器局域网（CAN）通信且存在不可用变量的不确定线控转向（SbW）系统的跟踪控制问题。首先，构建了自适应区间二型模糊逻辑系统（IT2 FLS）和滑模观测器，以估计SbW控制系统的不确定非线性和不可用变量。进一步，提出了一种事件触发滑模控制（ET-SMC），以在节省CAN通信资源的同时实现SbW系统的瞬态转向性能。更重要的是，该方案中引入了动态增益和嵌套技术来处理估计误差和滑模控制系统的抖振现象。结果表明，无需跟踪误差的初始条件即可保证闭环系统的实际固定时间稳定性。最后，通过仿真和车辆实验验证了所设计的方案。
