Robust Guaranteed Performance Fault-Tolerant Control of the 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:XXX

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

更新时间：2026-06-03

- Robust Guaranteed Performance Fault-Tolerant Control of the Steer-by-Wire System for Intelligent Vehicle
- JOURNAL OF XI’AN JIAOTONG UNIVERSITY (2026)
- 作者机构：
  
  1.华东交通大学机电与车辆工程学院，330013，南昌
  2.南昌智能新能源汽车研究院，330200，南昌
  3.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
  4.重庆大学机械与运载工程学院，400044，重庆
  5.同济大学汽车学院，201804，上海
  6.江铃汽车股份有限公司，330000，南昌
  7.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：XXX
  CLC： U463.4
- Received：02 March 2026，
  
  Revised：2026-05-27，
  
  Accepted：03 June 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 the Steer-by-Wire System for Intelligent Vehicle[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026.
DOI：

YANG Jinwen, HU Yiming, YU Yinquan, et al. Robust Guaranteed Performance Fault-Tolerant Control of the Steer-by-Wire System for Intelligent Vehicle[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2026. DOI： XXX.

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，多重不确定性与输入约束条件下线控转向系统的跟踪精度与控制性能难以保证，针对这一问题，提出一种融合鲁棒保性能控制与前馈调节的协同容错控制方法。首先，构建包含系统参数摄动、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，其次，将多重不确定性和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方法求解保性能控制律，实现对系统跟踪性能和鲁棒性的约束，并根据李雅普诺夫稳定性判据证明系统闭环稳定。最后，融合分段变曲率前馈调节器提高控制系统初始阶段的响应速度，形成完整的转角跟踪控制器。仿真及实车测试结果表明，所提控制方法不但具备精确稳定的转角跟踪能力，还具有快速的系统调节性能，在执行器故障等多重不确定性情况下

典型工况的仿真综合跟踪误差相比单一保性能控制降低约50%，相比PID控制降低约65%，相比自适应滑模控制降低约63%；实验综合跟踪误差相比单一保性能控制降低17%，相比PID控制降低约4%。确保了线控转向车辆在多变场景与故障工况中仍能高效稳定运行。

Abstract

Steer-by-wire (SBW) is a key technology for advanced intelligent driving

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

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

an SBW simulation model considering system parameter perturbations

external disturbances

actuator faults

and input constraints is established. Then

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

the tracking performance and robustness of the system are constrained

and closed-loop system stability is proven via Lyapunov theory. Finally

a segmented variable-curvature feedforward compensator is introduced to improve the initial response speed

forming a complete steering angle tracking controller. Simulations and real-vehicle tests show that the proposed method achieves accurate and stable steering angle tracking with fast dynamic response. The comprehensive simulation tracking error under typical steering conditions is reduced by about 50% compared with guaranteed performance control

65% compared with PID control

and 63% compared with adaptive sliding mode control. The comprehensive experimental tracking error is reduced by about 17% compared with guaranteed performance control

4 % compared with PID control. It significantly maintains efficient and stable operation of the SBW vehicle under varying scenarios and fault conditions.

关键词

Keywords

references

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