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An adaptive antidisturbance angle control strategy is proposed to address the nonlinear disturbances such as system parameter uncertainty, tire return torque obstruction, and coupling of electromagnetic characteristics of steering motors, which are faced by the active steering of SteerbyWire (SBW) system. A radial basis function neural network and robust sliding mode theory are used to design the outerloop cornering controller to adaptively compensate for the SBW system parameter uncertainty and tire return torque obstruction. Linear selfimmunity control is introduced into the innerloop current controller to cope with the coupling problem of electromagnetic characteristics of the steering actuator motor so as to improve the dynamic response performance of the SBW system. The simulation and hardwareintheloop test results show that the designed control strategy can help the SBW maintain the cornering steady state following error within 1.5° under various operating conditions.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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