Stabilization of Nonlinear Steer-by-Wire System via LMI-Based State Feedback

An effective state feedback stabilizing controller plays an important role to ensure the reliability and robustness of nonlinear steer-by-wire (SbW) system. This paper addresses a new state feedback controller designed to ensure stability of SbW system. The SbW systems modeling is further studied where the additive of nonlinearities and disturbance need to be taken into account and compensated effectively. The state feedback control law can be designed based on the bound information of nonlinearity in the system in the sense that not only the robustness with respect to nonlinearity can be obtained but also the front steering wheel angle can converge to the hand-wheel reference angle asymptotically. The state feedback controller K is obtained by solving a linear matrix inequality (LMI) condition which formulated based on Lyapunov functional candidate. The efficacy of the proposed method is verified by applying the theorem on the SbW system simulated on Matlab/Simulink. The simulation work validated that the proposed controller results in excellent system performance.