Yang Jinwen, Yu Yinquan, Zeng Dequan, Hu Yiming, Liu Junhui, Liu Kai, Carbone Giuseppe, Luo Shaohua, Zhu Xiaofeng
School of Mechatronics and Vehicle Engineering, East China Jiaotong University, Nanchang, 330000, China.
College of Computer Science, Chongqing University, Chongqing, 400044, China.
Sci Rep. 2025 Apr 14;15(1):12846. doi: 10.1038/s41598-025-96663-7.
Fault-tolerant control (FTC) is crucial for enhancing the safety, reliability, and tracking performance of steer-by-wire (SBW) systems. This paper focuses on actuator effectiveness reduction faults and establishes an analytical model of the SBW system that incorporates motor disturbances, steering feedback, and self-aligning torque characteristics. To solve the inadequate tracking accuracy resulting from actuator fault and system disturbances, an adaptive sliding mode fault-tolerant control strategy based on a variable-speed reaching law (VSRL-ASMFTC) is proposed. By integrating an adjustment function into the constant-velocity reaching polynomial and designing an adaptive law, dynamic updating of the control law is achieved. Furthermore, the closed-loop stability of the system is proven based on Lyapunov's stability criterion. The example information demonstrates that the proposed method reduces the root mean square (RMS) of tracking error by nearly 40% in three typical conditions compared to adaptive fault-tolerant control methods (ASMFTC), and the disturbances of the controller are relatively slighter. This indicates that the VSRL-ASMFTC mitigates system chattering, optimizes the system's anti-disturbance capability and robust stability, and improves fault tolerance efficiency in the presence of actuator failures. It maintains good tracking performance of the system, which provides a basis for the design of high-performance fault-tolerant control strategies.
容错控制（FTC）对于提高线控转向（SBW）系统的安全性、可靠性和跟踪性能至关重要。本文聚焦于执行器有效性降低故障，并建立了一个包含电机干扰、转向反馈和自对准扭矩特性的SBW系统分析模型。为了解决由执行器故障和系统干扰导致的跟踪精度不足问题，提出了一种基于变速趋近律的自适应滑模容错控制策略（VSRL-ASMFTC）。通过将一个调整函数融入等速趋近多项式并设计一种自适应律，实现了控制律的动态更新。此外，基于李雅普诺夫稳定性准则证明了系统的闭环稳定性。实例信息表明，与自适应容错控制方法（ASMFTC）相比，所提方法在三种典型工况下将跟踪误差的均方根（RMS）降低了近40%，且控制器的干扰相对较小。这表明VSRL-ASMFTC减轻了系统抖振，优化了系统的抗干扰能力和鲁棒稳定性，并在执行器发生故障时提高了容错效率。它保持了系统良好的跟踪性能，为高性能容错控制策略的设计提供了依据。
