Backstepping control design for the second-order electric power steering system using augmented observer

Abstract

In this paper, we propose a robust steering pinion angle control of Column mounted Electric Power Steering (C-EPS) for autonomous vehicle lateral control. An augmented observer was utilized for a rejection of external disturbances such as road reaction torque. By considering C-EPS mechanical structure, a reduced C-EPS dynamic model is utilized when constructing proposed controller. Also, the stability of the proposed closed-loop system is considered in the sense of Lyapunov theorm. With a numerical simulation, the proposed controller tracking performance was validated.