Steering control of a steer-by-wire system vehicle with time delay and actuator saturation via anti-windup controller

Abstract

This paper presents a design of an anti-windup controller that aims to improve vehicle handling and stability of a Steer-by-Wire (SbW) system with consideration of time delays and actuator saturation. Due to the physical constraints of road wheel steering actuators, control saturation is considered in controller design. Acontroller that is designed without a saturation condition, and is only to operate in a linear region might have significantly deterioratedperformance in the presence of actuatorsaturation. In this study, an anti-windup controller employing aback-calculation method was usedto handle the effect of actuator saturation in the system. The designed controller was usedonaSbW system with a linearized vehicle model to verify the effectivenessof the proposed strategy. The vehicle-body sideslip angle and the yaw rate atthecentre of gravity of the vehicle whileturning can be used to indicatevehicle stability. The simulation results demonstratedthat the designed controller promotes better handling during steering and preservesvehicle stability regardless of the changes in the time delays in the system.

Keywords

• Actuator saturation
• Anti-windup control
• Steer-by-wire
• Time delays