Sliding mode control for an electric power steering system in an autonomous lane keeping system자동 차선 유지 시스템의 전기식 파워 조향 시스템을 위한 슬라이딩 모드 제어기
- Other Titles
- 자동 차선 유지 시스템의 전기식 파워 조향 시스템을 위한 슬라이딩 모드 제어기
- Authors
- Yu, Jun Young; Kim, Wonhee; Son, Young Seop; Chung, Chung Choo
- Issue Date
- Feb-2015
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Electric power steering; Sliding mode control; Torque overlay
- Citation
- Journal of Institute of Control, Robotics and Systems, v.21, no.2, pp.95 - 101
- Indexed
- SCOPUS
KCI
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 21
- Number
- 2
- Start Page
- 95
- End Page
- 101
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/143835
- DOI
- 10.5302/J.ICROS.2015.14.9003
- ISSN
- 1976-5622
- Abstract
- In this paper, we develop a sliding mode control for steering wheel angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the steering wheel angle. The sliding mode steering wheel angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the steering wheel angle control is available for the driver's convenience. The performance of the proposed method was validated via experiments.
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