ABSTRACT
While steer-by-wire (SBW) system eliminated the mechanical steering column, it brought a series of research questions such as the system control strategy, the road feel torque planning, steering angle Tracking control, fault diagnosing and treatment. In [1]–[4], the torque control strategy, the speed control strategy, the angle control-torque feedback strategy, the torque drive-angle feedback strategy had been proposed. Tracking control system of steering angle was the basis of these Strategies in SBW system. The main problem in steering angle control was the suppression of the road reaction torque suppression. In [5], author considered the impact of aligning torque caused by wheel lateral force, the sticky-coulomb friction torque and the motor disturbance torque, and designed the slidingmode controller for steering angle tracking control. In [6], on the basis of the sliding mode control, author designed a Lipschitz continuous incremental controller to solve the switch vibration problem.
