Table 4 Performance evaluation indexes of control strategy results under sinusoidal and double lane-change steering condition.

From: An adaptive sliding mode fault-tolerant control of variable speed reaching law for steer-by-wire systems

 

Sinusoidal steering

Double lane-change steering

Control strategy

RMS of tracking error

RMS of first derivative of the control torque

RMS of tracking error

RMS of first derivative of the control torque

ASMFTC

0.0040

22.5413

0.0063

20.1547

VSRL-ASMFTC

0.0027

11.7374

0.0048

3.4791

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