Steering Control Precision in Rack Steering Vehicles Using Finite-Time Prescribed Performance Anti-Windup PI Controller with Nonlinear Error Transformation

Addie Irawan; Norsharimie Mat Adam; R.M.T Raja Ismail; Aliza Che Amran; Mohd Iskandar Putra Azahar

doi:10.31436/iiumej.v27i2.3982

Authors

Addie Irawan Universiti Malaysia Pahang Al-Sultan Abdullah https://orcid.org/0000-0001-5844-8666
Norsharimie Mat Adam Universiti Malaysia Pahang Al-Sultan Abdullah
R.M.T Raja Ismail Universiti Malaysia Pahang Al-Sultan Abdullah https://orcid.org/0000-0002-2146-1450
Aliza Che Amran Technical University of Malaysia Malacca
Mohd Iskandar Putra Azahar Universiti Malaysia Pahang Al-Sultan Abdullah https://orcid.org/0000-0002-3999-7683

DOI:

https://doi.org/10.31436/iiumej.v27i2.3982

Keywords:

Vehicle dynamic, Control System

Abstract

This paper addresses the challenge of maintaining steering precision and yaw stability in rack steering vehicles (RSVs) operating under varying inertial loads and aerodynamic disturbances. Conventional control methods often struggle to ensure bounded tracking performance in the presence of actuator saturation and nonlinear dynamics. To overcome these limitations, a Finite-Time Prescribed Performance Anti-Windup PI Controller with Nonlinear Error Transformation (FPPC-API-NET) is proposed. The outer loop employs a finite-time prescribed performance framework with a nonlinear transformation to constrain the error trajectory within predefined decay envelopes, while the inner loop incorporates antiwindup compensation to mitigate actuator saturation effects. Simulation studies benchmarked against the FTPPC-API and API controllers demonstrate that FPPC-API-NET achieves up to a 95% reduction in steady-state error, a 70% reduction in settling time, and a 87% reduction in transient duration. The proposed method also enhances yaw stability, reduces lateral displacement by 35%, minimizes sideslip magnitude, and maintains tire-friction utilization below saturation, resulting in smoother lateral acceleration with up to 48% lower peaks. These results confirm that FPPC-API-NET offers superior robustness and precision during cornering maneuvers across varying inertia levels.

ABSTRAK: Kajian ini membincangkan cabaran dalam mengekalkan ketepatan kawalan stereng dan kestabilan sudut gerakan sisi bagi kenderaan jenis rak stering (RSV) yang beroperasi di bawah beban inersia berubah serta gangguan aerodinamik. Kaedah kawalan konvensional sering menghadapi kesukaran mengekalkan prestasi penjejakan apabila berlaku ketepuan aktuator dan kesan dinamik tak linear. Bagi mengatasi kekurangan ini, satu pengawal tirus berasaskan Finite-Time Prescribed Performance dengan Transformasi Ralat Tak Linear dan Antiwindup PI (FPPC-API-NET) telah dicadangkan. Gelung luar menggunakan rangka kerja prestasi terpiawai had masa dengan transformasi ralat tak linear bagi mengehadkan trajektori ralat dalam sempadan peluruhan yang ditetapkan, manakala gelung dalam aplikasi pampasan antiwindup bagi mengawal kesan ketepuan aktuator. Kajian simulasi berbanding pengawal FTPPC-API dan API menunjukkan bahawa FPPC-API-NET mencapai pengurangan ralat keadaan tunak sehingga 95%, masa penetapan 70% lebih pantas, dan tempoh peralihan 87% lebih singkat. Kaedah ini turut meningkatkan kestabilan gerakan sisi, mengurangkan anjakan lateral sebanyak 35%, meminimumkan gelinciran, serta mengekalkan penggunaan geseran tayar di bawah had ketepuan, sekali gus membuktikan keteguhan dan ketepatan unggul FPPC-API-NET dalam manuver membelok di bawah variasi inersia.

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