Application of Fuzzy Adaptive High-Order Fully Actuated Control Strategy in SbW for Angle Tracking

In the field of autonomous vehicle driving, the angle tracking performance of the Steer-by-Wire (SbW) system plays a crucial role in vehicle steering and stability. To enhance the response speed and controller parameter adaptability of the SbW system's angle tracking, a novel Fuzzy Adaptive High-order Fully Actuated (FA-HOFA) control strategy has been proposed. First, a High-order Fully Actuated model of the SbW system was established, providing preparation for the design of the controller. Then, a FA-HOFA controller was designed, and an extended disturbance observer (EDO) was used to compensate for rack force, system friction, and system uncertainties. Lyapunov theory was employed to analyze the stability of the proposed controller. Finally, the effectiveness of the proposed control strategy was verified through simulation comparisons with several related algorithms.