Design and Control of Steer-By-Wire System for A Novel Corner Drive System

Four-Wheel Independent Steer-by-Wire (4WI-SbW) systems provide higher mobility, faster response, and more flexible layout for intelligent vehicle chassis. Thus, it is considered the future of the intelligent vehicle steering system. This paper designs a 4WI-SbW system based on the corner drive concept, and proposes a corresponding control method. Firstly, the system configuration and architecture are designed. Then, the system dynamic model is built, and the steering resistance model is presented and validated. Finally, a backstepping controller based on command filtering is proposed. Through multiple simulations under different procedures simulating actual driving scenarios, it has been verified that the 4WI-SbW system has achieved desirable performance.