Active steering systems based on model reference adaptive nonlinear control

This paper presents a model reference adaptive control strategy for active steering of 2WS cars which is realized by steer-by-wire technology. The ideal fixed property of a steering system which is provided by a reference model is attained by D* control. The proposed method can treat the nonlinear relationships between the slip angles and the lateral forces on tires, and the uncertainties on the friction of the road surface, whose compensations are proved to be very important under critical situations. Some results of realtime simulation with a steering equipment show the effectiveness of the proposed method.