A Predictive Sliding Control Algorithm and Application to Angle Following of Steer-by-Wire

Sliding mode control (SMC) algorithms in engineering applications necessitate the design of a sliding manifold to guide system motion. However, finding the optimal sliding manifold parameter (SMP) may be particularly challenging. While much of the research on SMC has focused on establishing a constant parameter for the sliding manifold, comparatively little is known about using a variable approach. In this article, we propose a predictive sliding control (PSC) algorithm that uses model predictive control (MPC) to determine the optimal SMP. The input to MPC is the SMC law with a sliding manifold variable parameter. In addition, the stability and robustness of the control system are analyzed in detail. The designed predictive sliding controller is applied to angle following of a steer-by-wire system installed on a self-driving vehicle. Experimental results and statistical analysis demonstrate the efficacy of the proposed control algorithm.