Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

Sarah 'Atifah Saruchi (Universiti Teknologi Malaysia)
Mohd Hatta Mohammed Ariff (Universiti Teknologi Malaysia)
Hairi Zamzuri (Universiti Teknologi Malaysia)
Noraishikin Zulkarnain (Universiti Kebangsaan Malaysia)
Mohd Hanif Che Hasan (Universiti Teknikal Melaka)
Sheikh Muhammad Hafiz Fahami (Sapura Technical Centre Sdn Bhd)

Bulletin of Electrical Engineering and Informatics
Vol 8, No 1: March 2019

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.