| Tracking Control of Steer-By-Wire System Steering Angle Based on Prescribed Nonsingular Terminal Sliding Mode |
| Leiyan Yu, Yunman Wang, Zihua Hu, Xinyue Wu, Xiaobin Liu, Haijie Huang, Jinyuan Zhao |
| College of Mechanical and Electronic Engineering, China University of Petroleum (East China), Qingdao, 266580, China |
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Received: April 15, 2025; Revised: July 29, 2025 Accepted: July 29, 2025. Published online: August 31, 2025. |
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| ABSTRACT |
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To improve the front wheel steering angle tracking accuracy of the intelligent steer-by-wire (SBW) system, a novel control strategy combining prescribed performance control (PPC) with nonsingular terminal sliding mode control (NTSMC) is proposed. First, an improved reduced-order extended state observer (IRESO) is designed to estimate the uncertain disturbances in the system model and compensate for their adverse effects. Second, the prescribed performance control technique is employed to transform the front wheel angle tracking error into a transformed error, which is then utilized to design control law. Subsequently, the superiority of the proposed control strategy is demonstrated through comparative studies with multiple control methods. The results indicate that under three different operating conditions including sinusoidal steering test, trapezoidal steering test, and hybrid test, the IRESO effectively estimates the total integrated disturbances. The proposed control strategy achieves the highest tracking accuracy for the front wheel angle, followed by nonsingular terminal sliding mode control, sliding mode control, and proportional–integral–derivative (PID) control. Compared with the single method of NTSMC, the proposed control strategy reduces the average absolute tracking error by approximately 56.25, 52.09, and 20.07% under sinusoidal steering test, trapezoidal steering test, and hybrid test conditions, respectively, demonstrating superior front wheel angle tracking performance. |
| Key Words:
Steer-by-wire system · Tracking accuracy · Prescribed performance control · Nonsingular terminal sliding mode
control · Improved reduced-order extended state observer |
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Corresponding Author.
Leiyan Yu , Email. 
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