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Variable Structure Model Reference Adaptive Control for Vehicle Steering System

Authors: Ardeshir Karami Mohammadi, Mohammadreza Saee


A variable structure model reference adaptive control (VS-MRAC) strategy for active steering assistance of a two wheel steering car is proposed. An ideal steering system with fixed properties and moving on an ideal road is used as the reference model, and the active steering assistance system is forced to attain the same behavior as the reference model. The proposed system can treat the nonlinear relationships between the side slip angles and lateral forces on tire, and the uncertainties on friction of the road surface, whose compensation are very important under critical situations. Simulation results show improvements on yaw rate and side slip.

Keywords: Adaptive Control, Variable Structure, Model reference, Active steering assistance

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