Robust Guaranteed Performance Fault-Tolerant Control of Steer-by-Wire System for Intelligent Vehicle

YANG Jinwen; HU Yiming; YU Yinquan; LIU Junhui; ZENG Dequan; ZHENG Ling; ZHANG Peizhi; LIU Weidong; CARBONE Giuseppe

doi:10.7652/xjtuxb202610004

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Robust Guaranteed Performance Fault-Tolerant Control of Steer-by-Wire System for Intelligent Vehicle

Special Topic Fusion Perception and Decision-Making Planning for Intelligent Driving | 更新时间：2026-09-29

- Robust Guaranteed Performance Fault-Tolerant Control of Steer-by-Wire System for Intelligent Vehicle
- Journal of Xi'an Jiaotong University Vol. 60, Issue 10, Pages: 45-55(2026)
- 作者机构：
  
  华东交通大学机电与车辆工程学院，330013，南昌
  南昌智能新能源汽车研究院，330200，南昌
  厦门大学马来西亚分校机电与车辆工程学院，43900，马来西亚吉隆坡
  重庆大学机械与运载工程学院，400044，重庆
  同济大学汽车学院，201804，上海
  江铃汽车股份有限公司，330000，南昌
  卡拉布里亚大学机械、能源与管理工程学院，I-87036，意大利伦德
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202610004
  CLC： TP273;U463.4
- Received：02 March 2026，
  
  Online First：05 June 2026，
  
  Published：10 October 2026
- 稿件说明：
移动端阅览
YANG Jinwen, HU Yiming, YU Yinquan, et al. Robust Guaranteed Performance Fault-Tolerant Control of Steer-by-Wire System for Intelligent Vehicle[J/OL]. Journal of Xi'an Jiaotong University,2026,60 (10):45-55. https://doi.org/10.7652/xjtuxb202610004.
DOI：

YANG Jinwen, HU Yiming, YU Yinquan, et al. Robust Guaranteed Performance Fault-Tolerant Control of Steer-by-Wire System for Intelligent Vehicle[J/OL]. Journal of Xi'an Jiaotong University,2026,60 (10):45-55. https://doi.org/10.7652/xjtuxb202610004. DOI：

摘要

线控转向系统是智能汽车实现高阶智能驾驶的关键技术，针对线控转向系统在多重不确定性及输入约束下跟踪精度与控制性能难以保证的问题，提出一种融合鲁棒保性能控制与前馈调节的协同容错方法。构建含参数摄动、外界扰动、执行器故障和输入约束的线控转向系统仿真模型；将多重不确定性与一定范围内的故障统一纳入控制设计框架，通过构造二次型性能指标并利用线性矩阵不等式求解保性能控制律，实现对系统跟踪性能和鲁棒性的约束，并基于李雅普诺夫判据证明闭环稳定性；融合分段变曲率前馈调节器提升初始响应速度，形成完整转角跟踪控制器。仿真与实车测试结果表明，该方法兼具精确稳定跟踪与快速调节能力。典型工况下：仿真前轮转角综合跟踪误差较单一保性能控制降低约50%，较PID和自适应滑模控制分别降低65%和63%；实车实验误差较单一保性能控制降低17%，较PID降低约4%。所提方法可保障线控转向车辆在多变场景与故障工况下的高效稳定运行。

Abstract

The steer-by-wire (SBW) system is a key technology for intelligent vehicles to achieve high-level intelligent driving. However

its tracking accuracy and control performance are difficult to guarantee under multiple uncertainties and input constraints. To address this issue

a cooperative fault-tolerant control method integrating robust guaranteed performance control and feedforward regulation is proposed. First

an SBW simulation model incorporating system parameter perturbations

external disturbances

actuator faults

and input constraints is established. Then

multiple uncertainties and faults within a certain range are unified into the control design framework. By constructing a quadratic performance index and solving the guaranteed performance control law via linear matrix inequalities

the tracking performance and robustness of the system are constrained

and the closed-loop stability is proved via the Lyapunov criterion. Furthermore

a piecewise variable-curvature feedforward regulator is integrated to improve the initial response speed

forming a complete steering angle tracking controller. Simulation and real-vehicle test results show that the proposed method achieves accurate and stable tracking with fast regulation capability. Under typical conditions

the comprehensive simulation front-wheel angle tracking error is reduced by about 50% compared with the standalone guaranteed performance control

65% compared with PID control

and 63% compared with adaptive sliding mode control. The experimental error is reduced by about 17% compared with the standalone guaranteed performance control and 4% compared with PID control. The proposed method can ensure the efficient and stable operation of SBW vehicles in varying scenarios and fault conditions.

关键词

Keywords

references

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