Sliding mode-based learning control for a novel steering-by-wire system

To achieve steering angle tracking performance of a novel steering-by-wire (SbW) system, a sliding mode-based learning control (SMLC) is developed. It features that the bounds information of disturbances isn't required in advance and the chattering phenomenon will be reduced. Simulation results show that the proposed SMLC has excellent steering angle tracking performance, robust performance and energy efficiency. Furtherly, to fulfill path tracking performance of a novel four-wheel-independent-steering electric vehicle (4WIS EV), a control scheme is proposed for the 4WIS EV, which utilizes a μ-synthesis robust control as a main-loop controller and utilizes the SMLC as a servo-loop controller. Simulation results also show that good path tracking performance is achieved by the proposed control scheme.