Synergistic Guaranteed Cost and Integral Sliding Mode Fault-Tolerant Control for Steer-by-Wire Systems Subject to Multiple Uncertainties

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Abstract
The actuator reliability of Steer-by-Wire (SBW) systems is critical to the functional safety of autonomous vehicles. However, existing control methods struggle to simultaneously enhance both response speed and fault-tolerant performance when facing multiple uncertainties such as parameter perturbations, external disturbances, and actuator faults. To address these issues, this paper proposes a synergistic fault-tolerant control (FTC) strategy combining guaranteed cost control (GCC) and integral sliding mode control (ISMC). First, a dynamic model of the SBW system incorporating the multiple uncertainties is established. Second, a GCC law is derived based on linear matrix inequalities (LMIs) to impose strict constraints on the system’s tracking accuracy and robustness. Building upon this, an ISMC is integrated to significantly accelerate the system’s dynamic response without sacrificing steady-state accuracy, thereby forming a synergistic fault-tolerant architecture characterized by both high precision and rapid response. The results indicate that, under typical fault modes and steering conditions, the response speed of GCC+ISMC is significantly improved compared with GCC alone, and the GCC+ISMC reduces tracking errors by approximately 35% compared to adaptive integral sliding mode control (AISMC). These findings demonstrate that the proposed approach effectively mitigates multiple system uncertainties, offering comprehensive advantages in tracking accuracy, response speed, and robustness.
Funding Information
  • National Natural Science Foundation of China (52302470)
  • National Natural Science Foundation of China (52462053)
  • National Natural Science Foundation of China (W2531045)
  • Jiangxi Province (20243BBG71011)
  • Jiangxi Province (20232ABC03A30)
  • the Jiangxi Province Government Special Fund for Graduate Innovation (YC2023-B207)

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