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Flatness based angle control with augmented observer for electric power steering in autonomous vehicles
- Jeong, Y.W.;
- Kang, C.M.;
- Kim, W.;
- Lee, S.-H.;
- Chung, C.C.
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3Citations
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3초록
In this paper, we propose a flatness based controller which tracks the desired angle of an electric power steering system with augmented observer and a state feedback controller. Unlike the torque-overlayed backstepping method in a lane-keeping system, using the known nominal model parameters results in better tracking performance then the previous method. This method can be implemented as a torque-overlay control as the backstepping controller. From numerical simulations, we observed that the flatness-based steering wheel controller outperforms the backstepping controller. © 2017 IEEE.
키워드
Automobile steering equipment; Backstepping; Controllers; Electric machine control; Intelligent vehicle highway systems; State feedback; Steering; Vehicles; Autonomous Vehicles; Back-stepping method; Backstepping controller; Electric power steering; Electric power steering system; Overlay control; State feedback controller; Tracking performance; Electric power system control
- 제목
- Flatness based angle control with augmented observer for electric power steering in autonomous vehicles
- 저자
- Jeong, Y.W.; Kang, C.M.; Kim, W.; Lee, S.-H.; Chung, C.C.
- 발행일
- 2017-06
- 유형
- Conference Paper
- 저널명
- IEEE Intelligent Vehicles Symposium, Proceedings
- 권
- 2017
- 페이지
- 347 ~ 352
- 언어
- ENG
- 출판사
- Institute of Electrical and Electronics Engineers Inc.
- 분량
- 6 페이지
- ISSN
- P 0000-0000