No.1021E 2025Special Edition on Mobility Technologies Non-linear Control of Yaw Rate Response in Steer-by-Wire Vehicle |
| Category | TECHNICAL PAPERS |
|---|---|
| Author | K. KITAHARA Systems Innovation R&D Dept., Research & Development Division H. MOURI Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology |
| Abstract | In this study, a method to independently control the yaw rate gain and phase characteristics is proposed. In steer-by-wire vehicles, it is possible to design the characteristics of vehicle dynamics such as the yaw response. However, the gain and phase of the frequency response of linear systems are coupled which limits the tunability. To deal with this issue, this study proposes a control method that decouples the gain and phase characteristics of the yaw rate dynamics by using a non-linear filter based on a NARX (Non-linear Auto Regressive eXogenous) model. The proposed control is validated on a steerby-wire equipped vehicle. The control strategy is described and experimental data demonstrate improvements to maneuverability and stability. |
| Keyword | SBW (steer-by-wire), yaw rate control, yaw rate response, vehicle dynamics |
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