Low-Complexity Control for Uncertain Steer-by-Wire Systems With Input Nonlinearity and Prescribed Tracking Performance

This paper investigates the prescribed tracking performance control problem for Steer-by-Wire (SbW) systems subject to model uncertainty, (i.e., unknown nonlinear function and control coefficient), and input nonlinearity including dead-zone and actuator faults. A low-complexity prescribed tracking performance control is proposed in which actuator fault and dead-zone are handled by using novel error transformation and robust control techniques. More importantly, the time derivative of the virtual control law and a prior upper bounds of initial states are no longer required in the control design, such that the application exibility of the controller can be improved. Theoretical analysis shows that the tracking error can be constrained to prescribed sets within a presetting time. Simulations are given to verify the rationality of proposed methods.