Adaptive robust sliding predictive control for angle tracking of steer-by-wire system with prescribed performance

A novel prescribed-performance adaptive robust sliding predictive control is proposed for steer-by-wire angle tracking to overcome unconstrained tracking error, severe sliding chattering and weak anti-disturbance capability of traditional methods. A performance function and corresponding error transformation strictly confine transient overshoot, convergence speed and steady-state error within preset bounds. A continuous sliding predictive law is designed, where receding horizon optimization optimally drives states to the sliding surface and eliminates chattering. Adaptive laws compensate parameter variations, while an extended state observer estimates unmodeled dynamics and external disturbances separately. Lyapunov theory proves the stability of both tracking and observation error dynamics. Comparative simulations against classic controllers validate the method’s superiorities in chattering suppression, guaranteed tracking performance and robustness to parameter perturbations and abrupt disturbances.