caa a22 4500 606159363 CHVBK 20210128100624.0 cr unu---uuuuu 210128e20151001xx s 000 0 eng 10.1007/s00521-014-1819-2 doi (NATIONALLICENCE)springer-10.1007/s00521-014-1819-2 Neural-network-based robust control for steer-by-wire systems with uncertain dynamics [Elektronische Daten] [Hai Wang, Zhengming Xu, Manh Do, Jinchuan Zheng, Zhenwei Cao, Linsen Xie] This study develops a neural-network-based robust control scheme for steer-by-wire systems with uncertain dynamics. The proposed control consists of a nominal control and a nonsingular terminal sliding mode compensator where a radial basis function neural network (RBFNN) is adopted to adaptively learn the uncertainty bound in the Lyapunov sense such that the effects of uncertainties can be effectively eliminated in the closed-loop system. Using the proposed neural control scheme, not only the robust steering performance against parameter variations and road disturbances is obtained, but also both the control gain and the control design complexity are greatly reduced due to the use of the RBFNN. Simulation results are demonstrated to verify the superior control performance of the proposed control scheme, in comparison with other control strategies. The Natural Computing Applications Forum, 2015 Finite-time convergence nationallicence Radial basis function neural network nationallicence Robustness nationallicence Steer-by-wire nationallicence Wang Hai Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut Xu Zhengming Lishui CA Steer-by-Wire Technological Co. Ltd., Zhejiang, China aut Do Manh Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut Zheng Jinchuan Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut Cao Zhenwei Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut Xie Linsen School of Engineering, Lishui University, Zhejiang, China aut Neural Computing and Applications Springer London 26/7(2015-10-01), 1575-1586 0941-0643 26:7<1575 2015 26 521 https://doi.org/10.1007/s00521-014-1819-2 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s00521-014-1819-2 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Wang Hai Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut NATIONALLICENCE 700 1- Xu Zhengming Lishui CA Steer-by-Wire Technological Co. Ltd., Zhejiang, China aut NATIONALLICENCE 700 1- Do Manh Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut NATIONALLICENCE 700 1- Zheng Jinchuan Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut NATIONALLICENCE 700 1- Cao Zhenwei Faculty of Science, Engineering and Technology, Swinburne University of Technology, 3122, Hawthorn, VIC, Australia aut NATIONALLICENCE 700 1- Xie Linsen School of Engineering, Lishui University, Zhejiang, China aut NATIONALLICENCE 773 0- Neural Computing and Applications Springer London 26/7(2015-10-01), 1575-1586 0941-0643 26:7<1575 2015 26 521