Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

Sarah 'Atifah Saruchi, Mohd Hatta Mohammed Ariff, Hairi Zamzuri, Noraishikin Zulkarnain, Mohd Hanif Che Hasan, Sheikh Muhammad Hafiz Fahami


Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.


Disturbance Observer; Hardware-in-Loop; Nonlinear Steer-by-Wire vehicle; Robust Composite Nonlinear Feedback; Yaw rate tracking control

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