To improve the road feeling of the steer-by-wire (SBW)system, a fractional order PID(proportion-integral-derivative) methodwith\na fault tolerant module is proposed in this paper. Firstly, the overall road feeling control strategy of the SBWsystem is introduced,\nand then the mathematical model of road feeling control is established. Secondly, a fractional order PID (FOPID) controller is\ndesigned to control torque of the road feeling motor. Furthermore, genetic algorithm (GA) is applied to tune the FOPIDcontrollerâ??s\nparameters. Thirdly, a fault tolerant module aiming at potential failures of the motorâ??s torque sensor is studied to improve the\nreliability of the system. Kalman Filter (KF) algorithm is utilized in the fault tolerant module so as to detect failures of the motorâ??s\ntorque sensor, and then fault tolerant module reconfigures the motorâ??s torque estimated by KF as a substitute when the torque\nsensor fails. Finally, simulations based onMATLAB are performed with the proposed control strategy to identify its performance,\nand the results demonstrate that the proposed control method is feasible and accurate.
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