Passivity-based Adaptive Nonlinear Control for Active Steering

Many researches of active steering systems have been proceeding to improve the driving safety of automobiles. The authors proposed a design method of model reference adaptive nonlinear controllers to treat uncertainties and non-linearities of tire´s lateral forces directly. But the designed controller is very complicated because it has many estimated parameters for adaptive control. In this research, a design method of passivity-based adaptive nonlinear controllers is proposed for active steering systems. The designed controller is robust to uncertainties and nonlinearities of tire´s lateral forces. Furthermore, the controller is much simpler than the existing ones. Some simulation results are provided to confirm the usefulness of the proposed method.