A Generalized Predictive Control Approach for Angle Tracking of Steer-by-Wire System

This paper focuses on the angle tracking control of the steer-by-wire system for self-driving vehicles. A generalized predictive control approach is developed using Taylor approximation method. A key feature of the proposed controller is that an explicitly analytical form of the optimal predictive controller is derived. In addition, it is desirable for implementation, and its parameters are easy to be adjusted. A slalom path is utilized to carry out the steering control. The validity of the proposed controller is verified by simulation. Excellent results were obtained regarding angle tracking, fast response, and stability, which indicates that the proposed generalized predictive control law is a good alternative for the control of the steer-by-wire system.