A model-tuned backstepping control approach for angle demand following of steer-by-wire system

The design of the backstepping control requires setting up a stepping-parameter for every stepping-manifold, making it converge rapidly more importantly. In this article, a set of variable stepping-parameters are developed for backstepping control, which is solved by finding the optimal solution of a cost function in a receding horizon. The cost function is designed to remove the error between the system model and the real-world, the algorithm of which is called model tuning control. Here we discuss a series of studies on the algorithm of the adaptive stepping-parameters that, collectively, develop an algorithm of how the error is eliminated to find a set of variable stepping-parameters. The algorithm is downloaded into a steering control unit and deployed in a steering test vehicle for the validation. According to the experimental results, it is concluded that the developed algorithm is a good candidate for the angle demand following of steer-by-wire system.