Murdoch University Research Repository

Welcome to the Murdoch University Research Repository

The Murdoch University Research Repository is an open access digital collection of research
created by Murdoch University staff, researchers and postgraduate students.

Learn more

Terminal sliding mode control for steer-by-wire system in electric vehicles

Wang, H.ORCID: 0000-0003-2789-9530, Man, Z., Kong, H. and Shen, W. (2012) Terminal sliding mode control for steer-by-wire system in electric vehicles. In: 2012 7th IEEE Conference on Industrial Electronics and Applications (ICIEA), 18 - 20 July 2012, Singapore, Singapore pp. 919-924.

Link to Published Version:
*Subscription may be required


In this paper, the mathematical modelling of a front-wheel steer-by-wire (SBW) system is studied and a terminal sliding mode control scheme for the SBW system with uncertain dynamics is developed. It is shown that a front-wheel SBW system, from the hand-wheel to the steered front wheels, is equivalent to a second-order system. A terminal sliding mode controller can then be designed based on the information of the bounds of uncertain system dynamics, in the sense that not only a strong robustness with respect to system uncertainties and nonlinearities can be obtained, but also the front wheel steering angle can converge to the hand-wheel reference angle in a finite time. A simulation example is presented to verify the proposed control scheme.

Item Type: Conference Paper
Publisher: IEEE
Copyright: © 2011 IEEE
Item Control Page Item Control Page