Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control
| Main Authors: | Saruchi, Sarah 'Atifah; Universiti Teknologi Malaysia, Mohammed Ariff, Mohd Hatta; Universiti Teknologi Malaysia, Zamzuri, Hairi; Universiti Teknologi Malaysia, Zulkarnain, Noraishikin; Universiti Kebangsaan Malaysia, Hanif Che Hasan, Mohd; Universiti Teknikal Melaka, Hafiz Fahami, Sheikh Muhammad; Sapura Technical Centre Sdn Bhd |
|---|---|
| Other Authors: | Universiti Teknologi Malaysia |
| Format: | Article composite nonlinear feedback;disturbance observer;hardware-in-loop info application/pdf eJournal |
| Bahasa: | eng |
| Terbitan: |
Institute of Advanced Engineering and Science
, 2019
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| Subjects: | |
| Online Access: |
http://journal.portalgaruda.org/index.php/EEI/article/view/1228 http://journal.portalgaruda.org/index.php/EEI/article/view/1228/1024 |
Daftar Isi:
- Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.