High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance Rejection
This paper presents a high-order model-based robust control strategy for a dual-motor road wheel actuating system in a steer-by-wire (SbW) architecture. The system consists of a belt-driven and a pinion-driven motor collaboratively actuating the road wheels through mechanically coupled dynamics. To...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-06-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/7/322 |
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| author | Minhyung Kim Insu Chung Junghyun Choi Kanghyun Nam |
| author_facet | Minhyung Kim Insu Chung Junghyun Choi Kanghyun Nam |
| author_sort | Minhyung Kim |
| collection | DOAJ |
| description | This paper presents a high-order model-based robust control strategy for a dual-motor road wheel actuating system in a steer-by-wire (SbW) architecture. The system consists of a belt-driven and a pinion-driven motor collaboratively actuating the road wheels through mechanically coupled dynamics. To accurately capture the interaction between actuators, structural compliance, and road disturbances, a four-degree-of-freedom (4DOF) lumped-parameter model is developed. Leveraging this high-order dynamic model, a composite control framework is proposed, integrating feedforward model inversion, pole-zero feedback compensation, and a disturbance observer (DOB) to ensure precise trajectory tracking and disturbance rejection. High-fidelity co-simulations in MATLAB/Simulink and Siemens Amesim validate the effectiveness of the proposed control under various steering scenarios, including step and sine-sweep inputs. Compared to conventional low-order control methods, the proposed approach significantly reduces tracking error and demonstrates enhanced robustness and disturbance attenuation. These results highlight the critical role of high-order modeling in the precision control of dual-motor SbW systems and suggest its applicability in real-time, safety-critical vehicle steering applications. |
| format | Article |
| id | doaj-art-168d0ec5584347328309659e2ccb074a |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-168d0ec5584347328309659e2ccb074a2025-08-20T03:55:49ZengMDPI AGActuators2076-08252025-06-0114732210.3390/act14070322High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance RejectionMinhyung Kim0Insu Chung1Junghyun Choi2Kanghyun Nam3School of Mechanical Engineering, Yeungnam University, Gyeongsan-si 38541, Republic of KoreaSchool of Mechanical Engineering, Yeungnam University, Gyeongsan-si 38541, Republic of KoreaDepartment of Automotive Engineering, Keimyung University, Daegu 42601, Republic of KoreaSchool of Mechanical Engineering, Yeungnam University, Gyeongsan-si 38541, Republic of KoreaThis paper presents a high-order model-based robust control strategy for a dual-motor road wheel actuating system in a steer-by-wire (SbW) architecture. The system consists of a belt-driven and a pinion-driven motor collaboratively actuating the road wheels through mechanically coupled dynamics. To accurately capture the interaction between actuators, structural compliance, and road disturbances, a four-degree-of-freedom (4DOF) lumped-parameter model is developed. Leveraging this high-order dynamic model, a composite control framework is proposed, integrating feedforward model inversion, pole-zero feedback compensation, and a disturbance observer (DOB) to ensure precise trajectory tracking and disturbance rejection. High-fidelity co-simulations in MATLAB/Simulink and Siemens Amesim validate the effectiveness of the proposed control under various steering scenarios, including step and sine-sweep inputs. Compared to conventional low-order control methods, the proposed approach significantly reduces tracking error and demonstrates enhanced robustness and disturbance attenuation. These results highlight the critical role of high-order modeling in the precision control of dual-motor SbW systems and suggest its applicability in real-time, safety-critical vehicle steering applications.https://www.mdpi.com/2076-0825/14/7/322steer-by-wiredual-motor road wheel actuating systemhigh-order modelingrobust controldisturbance observerco-simulation |
| spellingShingle | Minhyung Kim Insu Chung Junghyun Choi Kanghyun Nam High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance Rejection Actuators steer-by-wire dual-motor road wheel actuating system high-order modeling robust control disturbance observer co-simulation |
| title | High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance Rejection |
| title_full | High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance Rejection |
| title_fullStr | High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance Rejection |
| title_full_unstemmed | High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance Rejection |
| title_short | High-Order Model-Based Robust Control of a Dual-Motor Steer-by-Wire System with Disturbance Rejection |
| title_sort | high order model based robust control of a dual motor steer by wire system with disturbance rejection |
| topic | steer-by-wire dual-motor road wheel actuating system high-order modeling robust control disturbance observer co-simulation |
| url | https://www.mdpi.com/2076-0825/14/7/322 |
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