Variable Structure Model Reference Adaptive Control for Vehicle Steering System

A. Karami Mohammadi(1*), M. Saee(2)

(1) Department of Mechanical Engineering, Shahrood University of Technology, Iran, Islamic Republic of
(2) Department of Mechanical Engineering, Shahrood University of Technology, Iran, Islamic Republic of
(*) Corresponding author

DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)


A variable structure model reference adaptive control (VS-MRAC) strategy for active steering assistance of a two wheel steering car is proposed. An ideal steering system with fixed properties and moving on an ideal road is used as the reference model, and the active steering assistance system is forced to attain the same behavior as the reference model. The proposed system can treat the nonlinear relationships between the side slip angles and lateral forces on tire, and the uncertainties on friction of the road surface, whose compensation are very important under critical situations. Simulation results show improvements on yaw rate and side slip.
Copyright © 2016 Praise Worthy Prize - All rights reserved.


Variable Structure; Adaptive Control; Model Reference; Active Steering Assistance

Full Text:



Peng H, Tomizuka M. Preview control for vehicle lateral guidance in highway automation. ASME J Dynam Syst Meas Contr 1993;115:679-86.

Yu SH, Moskwa JJ. A global approach to vehicle control : coordination of four wheel steering and wheel torque. ASME J dynam Syst Meas Contr 1994;116:659-67.

Nalecz AG, Bindemann AC. Handling properties of four wheel steering vehicles. SAE paper 890080,1989,p-63-81.

Abe M. Analysis on free control stability of four-active-steer vehicle. J SAE Rev 1990;11:25-34.

A.Karami Mohammadi. ‘‘Variable structure model reference adaptive control for SIMO systems'', ICCAS2004, Bangkok, THIALAND.

Utkin, V.I>,(1978). Sliding modes and their application in variable - structure systems. Newyork: MIR.

Furukawa Y.A. A review of four-wheel steering studies from the view point of vehicle dynamics and control. Vehicle Syst Dynamics 1989-;18:151-8.

Ackermann J, Guldner J, Sienel W, Steinhauser R. Ukin VI . Linear and nonlinear controlle design for robust automatic steering. IEEE cont Syst Technol 1995;3:132-40.

You S-S, Chai Y-H. Multi-objective control synthesis: an application to 4WS passenger vehicles. Mechatronics Int. J 1999;9:363-90.

M. Abe, Vehicle Dynamics and control, Saikai-do. Press , Tokyo, 1992.

J. Ackermann, A. Bartlett, D. Kaesbauer, W. Sienel, R.Steinhauser, Robust Control Systems with Uncertain Physical Parameters. Springer, London, 1993.

J.R.Ellis, Vehicle Dynamics Business Book Ltd. London 1969.

A.J.Vander Schaft, L2 -gain analysis of nonlinear systems and nonlinear state feedback H∞ control, IEEE Trans. AC-37(6) (992) 770-784.

Ackermann J., Bunte T., Handling Improvement for Robustly Decoupled Car Steering Dynamics, 1998, DLR, Germany Aerospace Research Establishment Institute of Robotics and System Dynamics, Oberpfaffenhofen, Germany.

Hsu L., Variable Structure Model Reference Adaptive Control Using only I/O Measurement: General Case, 1990, IEEE Trans. Automat. Control, PP. 1238-1243.

Hsu L., Araujo A.D., and Costa R.R., Analysis and Design of I/O Based Variable Structure Adaptive Control, IEEE Trans. Automate Control, 1994, pp. 4-21.


  • There are currently no refbacks.

Please send any question about this web site to
Copyright © 2005-2020 Praise Worthy Prize