Neural Output Feedback Control of Automobile Steer-by-Wire System With Predefined Performance and Composite Learning
Yunlong Wang, Yan Liu, Yongfu Wang, Tianyou Chai
Abstract
This article addresses the steering control problem for steer-by-wire (SbW) systems subject to the unknown uncertainty, external disturbance and unavailable variable. Before the controller design, an adaptive neural network-based observer and a disturbance observer are constructed to estimate the angular velocity signal and the compound disturbance, respectively. Then, to guarantee the transient and steady-state performance of steering tracking error within the quantitative boundary, a prescribed performance function is constructed by user-designed tracking accuracy and settling time. Finally, the controller is designed based on the backstepping scheme and the neural network with a composite learning scheme is proposed for the approximation of lumped uncertainty. The Lyapunov stability theory shows that the signals involved in the system are semi-global uniformly ultimately bounded and the tracking error converges to a preset range at finite time. Different numerical simulations and experiments are implemented to verify the effectiveness of the developed control scheme.