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Flatness based angle control with augmented observer for electric power steering in autonomous vehicles
- Authors
- Jeong, Y.W.; Kang, C.M.; Kim, W.; Lee, S.-H.; Chung, C.C.
- Issue Date
- Jul-2017
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Citation
- IEEE Intelligent Vehicles Symposium, Proceedings, pp 347 - 352
- Pages
- 6
- Journal Title
- IEEE Intelligent Vehicles Symposium, Proceedings
- Start Page
- 347
- End Page
- 352
- ISSN
- 0000-0000
- Abstract
- 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.
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Collections - College of Engineering > School of Energy System Engineering > 1. Journal Articles
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