Discrete time fast terminal sliding-mode for steer-by-wire systems with nonlinear disturbance observer

Kong, H., Liu, X., Wang, H.ORCID: 0000-0003-2789-9530, Hu, Y., Ye, M. and Nam, K. (2020) Discrete time fast terminal sliding-mode for steer-by-wire systems with nonlinear disturbance observer. In: 32nd Chinese Control And Decision Conference (CCDC) 2020, 22-24 August 2020, Hefei, China

Abstract

In this paper, a discrete-time fast terminal sliding mode (DFTSM) control scheme with a discrete-time nonlinear disturbance observer (NDO) is developed for steer-by-wire (SBW) systems. It is shown that the proposed DFTSM controller can drive the dynamic error of the close-loop system to zero, and a discrete-time NDO can effectively cope with the lumped uncertainties and external disturbance. Compared with ordinary discrete-time sliding-mode-based SBW control systems, the proposed controller not only ensures the fast time zero convergence, but also achieves stronger robustness with respect to parameter uncertainties and external disturbance. The comparison simulations are conducted which verified the remarkable robustness and anti-disturbance ability.

Item Type:	Conference Paper
Murdoch Affiliation(s):	Engineering and Energy
URI:	http://researchrepository.murdoch.edu.au/id/eprint/58002

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