The steering angle of intelligent vehicle is controlled to achieve the desired steering angle reliably and accurately. In order to prevent the steering column angle error and improve the reliability and safety of the active steering control of intelligent vehicle, yaw rate signal, lateral acceleration signal, and steering motor current signal are used for real time fault diagnosis with fault tolerant design based on Kalman filter. According to the result of diagnosis and fault tolerance, a feed-forward and state feedback controller overcoming integral saturation is designed with conditional integrators considering for the constraint of actuators to achieve the desired steering angle of front wheel. And a lyapunov function is built to prove the control system is asymptotically stable. In the end, the algorithms with diagnosis and fault tolerance proposed are verified to achieve the desired steering angle of front wheel effectively and reliably by real vehicle tests.
ZHANG Renxie
,
XIONG Lu
,
YU Zhuoping
. Active Steering Angle Control for Intelligent Vehicle[J]. Journal of Mechanical Engineering, 2017
, 53(14)
: 106
-113
.
DOI: 10.3901/JME.2017.14.106
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