Steering angle sensorless control for four-wheel steering vehicle via sliding mode control method

Yuan, Haiying; Goh, Keng; Andras, Peter; Luo, Wenguang; Wang, Caisheng; Gao, Yuan

Abstract

This paper presents a new sensorless control method for four-wheel steering vehicles. Compared to the existing sensor-based control, this approach improved dynamic stability, manoeuvrability, and robustness in case of malfunction of the front steering angle sensor. It also provided a software redundancy and backup solution, as well as improved fault tolerance. The strategy of the sensorless control is based on the sliding mode method to estimate the replacement of the front steering input from the errors between the vehicle’s measured and desired values of the vehicle’s sideslip angle and yaw rate. The simulation results demonstrate that the observer effectively estimated the front-wheel steering angle at both low and high speeds scenarios in the cornering and lane change manoeuvres. Furthermore, the sensorless control approach can achieve equivalent control performances to the sensor-based controller including a small and stable yaw rate response and zero sideslip angle. The results of the study offer a potential solution for improving manoeuvrability, stability, and sensor fault tolerance of four-wheel steering vehicles.

Citation

Yuan, H., Goh, K., Andras, P., Luo, W., Wang, C., & Gao, Y. (2024). Steering angle sensorless control for four-wheel steering vehicle via sliding mode control method. Transactions of the Institute of Measurement and Control, 46(3), 453-462. https://doi.org/10.1177/01423312231181993

• Journal Article Type: Article
• Acceptance Date: May 18, 2023
• Online Publication Date: Jun 22, 2023
• Publication Date: 2024
• Deposit Date: Jun 16, 2023
• Publicly Available Date: Jun 22, 2023
• Print ISSN: 0142-3312
• Electronic ISSN: 1477-0369
• Publisher: SAGE Publications
• Peer Reviewed: Peer Reviewed
• Volume: 46
• Issue: 3
• Pages: 453-462
• DOI: https://doi.org/10.1177/01423312231181993
• Keywords: Four-wheel steering, steering control, sensorless control, observer, sliding mode control, steering stability
• Public URL: http://researchrepository.napier.ac.uk/Output/3127832