Sliding mode‐based active disturbance rejection control for vehicle steer‐by‐wire systems

This study presents a sliding mode‐based active disturbance rejection control (SMADRC) scheme for a steer‐by‐wire (SbW) system in road vehicles. First, a plant model that describes the mechanical dynamics of the SbW system is elaborated, where the viscous friction and the self‐aligning torque are regarded as external disturbances. Second, the design of SMADRC is exposited, in which a non‐linear extended state observer is utilised to estimate the non‐linearities existing in the plant model, and a sliding mode control component is used to cope with the effect of the non‐linearities and guarantee the control robustness against system uncertainties and varying road conditions. Finally, experimental results are shown to demonstrate the superiority of the designed SMADRC in comparison with a conventional sliding mode controller and a PD‐based active disturbance rejection controller (PDADRC).