Two-port network based bilateral control of a steer-by-wire system

Steer-by-wire (SBW) system, which is characterized by variable gear ratio, better active safety, unmanned drive, has been widely studied to realize a distinctive driving experience. Control strategy acts as a key part of SBW system to achieve the goal. In this paper, a control strategy by bilateral control structure for steer-by-wire system is proposed. To make SBW system has the same function of conventional steering systems, the controller is designed to realize desired tracking control and realistic road feel feedback. The control of position and torque for each actuator are taken as two ports for the control network. Based on different control loop, two kinds of bilateral control is investigated respectively. The hardware-in-the-loop SBW experiment platform is developed by the configuration of electric power steering system. The test results are compared to show the performance of different control loops.