A Control Barrier Function Approach for the Robust Lateral Control of Steer-by-Wire Vehicles
Authors: de Castro, Ricardo and Brembeck, Jonathan
IEEE Vehicle Power and Propulsion Conference, Belfort, France.
This work is concerned with the design of a robust yaw rate controller for vehicles with steer-by-wire actuators. The controller combines control Lyapunov function (CLF) and control barrier function (CBF). The former provides robust tracking capabilities, while the latter enforces the satisfaction of safety requirements, formulated as state constraints. These functions are then integrated into a quadratic program (QP) optimization problem, which seeks the minimization of the yaw rate tracking error, subject to actuation and state constraints. Simulation results demonstrate the effectiveness of the proposed approach, particularly in stabilizing the steer-by-wire vehicle under uncertain levels of friction coefficient in the tire-road interface.