Robust control for steer-by-wire systems in road vehicles

In this thesis, the author develops a detailed mathematical model for a Steer-by-Wire system in road vehicles with uncertain dynamics. Then a few sliding mode control and terminal sliding mode control schemes using the bound information of uncertain system parameters and disturbances are developed. The focus of controller designs is on eliminating the effects of uncertainties and disturbances on the steering performance and significantly improving the safety and reliability of road vehicles under different road conditions. All of the proposed control algorithms are successfully verified in real-time experiments in Robotics and Mechatronics Lab at Swinburne University of Technology.