Passivity-based Adaptive Nonlinear Control for Active Steering

Many researches of active steering systems have been proceeding to improve the driving safety of automobiles. The authors proposed a design method of model reference adaptive nonlinear controllers to treat uncertainties and non-linearities of tire's lateral forces directly. But the designed controller is very complicated because it has many estimated parameters for adaptive control. In this research, a design method of passivity-based adaptive nonlinear controllers is proposed for active steering systems. The designed controller is robust to uncertainties and nonlinearities of tire's lateral forces. Furthermore, the controller is much simpler than the existing ones. Some simulation results are provided to confirm the usefulness of the proposed method.