Robust back-stepping control of vehicle steering system

This paper deals with robust steering control of 2-DOF(Degree Of Freedom) bicycle model. 2-DOF bicycle model is specialized model for the steering control of vehicle. Even if the real vehicles have many system uncertainties such as nonlinearity and disturbance, the 2-DOF bicycle model have been generally used to algorithm development for the steering control of vehicles since the dynamics of the 2-DOF bicycle model is very simple. However, since system uncertainties are omitted to the dynamics of the 2-DOF bicycle model compared with more than 2-DOF vehicle models, it is important to consider the system uncertainties in the design procedure of the steering controller. Therefore, to design the steering controller of vehicle based on 2-DOF model including many system uncertainties, back-stepping control scheme for effectively compensating the system uncertainties is designed in order to compensate the system uncertainties. In addition, to evaluate the validity of proposed control scheme, computer simulation is executed.