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<p>This paper presents an integrated steering control approach for four-wheel steering (4WS) vehicles equipped with Steer-by-Wire (SbW) technology, aiming to enhance steering response characteristics. Firstly, to reduce the driver’s operational burden, a variable transmission ratio (VTR) model is developed to balance low-speed steering agility with high-speed driving stability. Secondly, an adaptive linear quadratic regulator (ALQR) feedback controller is designed. By combining adaptive weighting functions with fuzzy control, this controller dynamically optimizes the weighting matrices Q and R to generate front and rear wheel compensation angles in real-time, thereby enhancing vehicle yaw stability significantly under complex operating conditions. Thirdly, to achieve rapid and precise tracking of the desired steering command, an anti-disturbance angle control strategy is developed. This strategy integrates an extended state observer (ESO), an adaptive law, and a super-twisting sliding mode (STSM) angle tracking controller. Specifically, the ESO is employed to estimate external disturbances, the adaptive law is designed to compensate for parameter perturbations, and the STSM controller is implemented to execute the steering angle tracking function. Finally, the efficacy and superiority of the proposed steering control scheme are validated via the MATLAB/Simulink-CarSim co-simulation environment. The results reveal that the proposed scheme substantially improves vehicle stability, maneuverability, and driving safety under various driving conditions.</p>

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An anti-disturbance angle tracking strategy for 4WS vehicles with variable transmission ratio and active four-wheel steering

  • 期刊论文

  • 发表日期：

    2026年2月2日

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  • Jinjiang Wang,
  • Ruixia Sun,
  • Rongyun Zhang,
  • Ping Xiao

摘要

This paper presents an integrated steering control approach for four-wheel steering (4WS) vehicles equipped with Steer-by-Wire (SbW) technology, aiming to enhance steering response characteristics. Firstly, to reduce the driver’s operational burden, a variable transmission ratio (VTR) model is developed to balance low-speed steering agility with high-speed driving stability. Secondly, an adaptive linear quadratic regulator (ALQR) feedback controller is designed. By combining adaptive weighting functions with fuzzy control, this controller dynamically optimizes the weighting matrices Q and R to generate front and rear wheel compensation angles in real-time, thereby enhancing vehicle yaw stability significantly under complex operating conditions. Thirdly, to achieve rapid and precise tracking of the desired steering command, an anti-disturbance angle control strategy is developed. This strategy integrates an extended state observer (ESO), an adaptive law, and a super-twisting sliding mode (STSM) angle tracking controller. Specifically, the ESO is employed to estimate external disturbances, the adaptive law is designed to compensate for parameter perturbations, and the STSM controller is implemented to execute the steering angle tracking function. Finally, the efficacy and superiority of the proposed steering control scheme are validated via the MATLAB/Simulink-CarSim co-simulation environment. The results reveal that the proposed scheme substantially improves vehicle stability, maneuverability, and driving safety under various driving conditions.