Model Reference Adaptive Control of an Independent Steer-by-Wire System: A Simulation Using a 14-Degree-of-Freedom Vehicle Model

Authors

  • M. Haziq Hamdi Faculty of Mechanical Technology and Engineering, Universiti Teknikal Malaysia Melaka, 75450 Melaka, Malaysia
  • Fauzi Ahmad Faculty of Mechanical Technology and Engineering, Universiti Teknikal Malaysia Melaka, 75450 Melaka, Malaysia
  • Mohd Hanif Che Hasan Faculty of Electrical Technology and Engineering, Universiti Teknikal Malaysia Melaka, 75450 Melaka, Malaysia
  • Mohd Hafiz Harun Faculty of Mechanical Technology and Engineering, Universiti Teknikal Malaysia Melaka, 75450 Melaka, Malaysia
  • Vimal Rau Aparow Faculty of Science and Engineering, University of Nottingham Malaysia Campus, Jalan Broga, Semenyih, Selangor Darul Ehsan, Malaysia

DOI:

https://doi.org/10.15282/ijame.21.4.2024.1.0904

Keywords:

MRAC controller, Steer-by-wire system, Independent arm, 14 DOF vehicle model, Simulation

Abstract

This research delves into how Model Reference Adaptive Control (MRAC) can be applied in an independent Steer-by-Wire (SBW) system, utilising a detailed 14 Degrees of Freedom (DOF) full-vehicle model. This study is all about pushing forward vehicle dynamics and control using SBW technology. This study also has come up with some cutting-edge control algorithms that allow each wheel to be steered independently, which seriously boosts how manoeuvrable and responsive the vehicle is. Through simulations, the study shows that MRAC is a big improvement over traditional control methods where quantitative analysis shows that MRAC reduces yaw rate errors by up to 66.67% compared to Proportional-Integral-Derivative (PID) and 50% compared to Multi-order PID (MOPID). Additionally, in lateral acceleration and sideslip angle controls, MRAC demonstrates a similar reduction in errors, significantly outperforming PID and MOPID with errors maintained well below 10%, proving its worth in predictive control and real-time adaptability to various road conditions and driver intentions. The key finding from this study is that MRAC greatly enhances manoeuvrability and responsiveness compared to standard methods which offer flexibility according to the different driving scenarios. There are notable advancements in vehicle steering systems, which contribute to safer and more efficient driving. In essence, this work marks a significant step forward in automotive steering technology, opening the door to safer and more efficient modern vehicles.

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Published

2024-11-15

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Articles

How to Cite

[1]
“Model Reference Adaptive Control of an Independent Steer-by-Wire System: A Simulation Using a 14-Degree-of-Freedom Vehicle Model”, Int. J. Automot. Mech. Eng., vol. 21, no. 4, pp. 11723–11743, Nov. 2024, doi: 10.15282/ijame.21.4.2024.1.0904.

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