The steer-by-wire (SBW) system represents an optimal solution for achieving intelligent vehicle steering. However, the current reliability of SBW motors and electronic control units remains limited. Disturbances, including variations in the external road environment and time-varying parameters, can significantly impact vehicle stability. To address these challenges, a hierarchical control strategy is proposed in this paper. In the upper layer, model predictive control (MPC) is employed to optimize the sideslip angle and yaw rate by tracking their reference values, thereby enhancing the stability of the SBW system. In the lower layer, a composite reaching law sliding mode control based on an extended state observer (ESO-CRLSMC) is developed to address dual-motor parameter mismatch and speed synchronization issues, thereby ensuring the reliability of the dual-motor system. Finally, hardware-in-the-loop experiments demonstrate that under time-varying disturbances and parameter mismatches, the proposed controller not only ensures vehicle handling stability but also improves steering response speed, robustness, and synchronization performance.
Ma et al. (Tue,) studied this question.
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