Adaptive Integral Terminal Sliding Mode Control of Steer-by-Wire System

This paper presents an Adaptive Integral Terminal Sliding Mode Control (AITSMC) strategy for a Steer-by-Wire (SBW) system to improve robustness and steering performance under parameter variations, external disturbances, and changing road conditions. AITSMC incorporates an adaptation mechanism to estimate the self-aligning torque coefficient, allowing real-time compensation for road condition variations. To evaluate its effectiveness, Conventional Sliding Mode Control, Adaptive Sliding Mode Control, and Integral Terminal Sliding Mode Control are also designed and analyzed. A comprehensive comparative study through MATLAB/Simulink simulations demonstrates the superiority of AITSMC in robustness and tracking performance against diverse road conditions as well as parametric uncertainties, which contributes to improve vehicle handling and stability of SBW systems.