Active steering stability control of steer-by-wire vehicles based on variable horizon-robust model predictive control

作者：Shao, Wenbin; Liang, Xinqing; Fang, Ting; Zhao, Linfeng^*; Hu, Yanping

来源：Journal of the Brazilian Society of Mechanical Sciences and Engineering, 2023, 45(8): 410.

DOI：10.1007/s40430-023-04316-5

• Steer-by-wire
• Variable angle transmission ratio
• Robust
• Model predictive control
• Stability control

The steer-by-wire (SBW) system can not only satisfy the ability to freely switch between manual and automatic driving modes of intelligent vehicles, but also has the advantage of variable transmission ratio. Based on the traditional mode predictive control (TMPC), a variable horizon-robust model predictive control (VRMPC) is designed which considers the adaptive optimization of the predictive horizon and the uncertainty of the control system. The simulation test of active steering controller based on VRMPC, TMPC and Improved Active Disturbances Rejection Control (IADRC) is carried out under typical working conditions and verified by hardware-in-the-loop test. The experimental results show that compared with TMPC and IADRC, the active steering controller based on VRMPC can improve the vehicle stability under different conditions and expand the range of stability control.