자율주행 차량의 횡방향 제어를 위한 전기식 파워 조향기의 슬라이딩 모드 제어기 설계

Abstract

We propose a torque overlay based robust steering wheel angle control of electric power steering(EPS) for lateral control in autonomous vehicles. We propose second order linear model of EPS with piecewise linear hysteresis. In order to compensate for the nonlinear characteristic of EPS, i.e., hysteresis, we use the inversion error of the hysteresis. The sliding mode control is designed for the robustness against the hysteresis inversion error. The performance of the proposed method was validated via simulations.