Experimental Verifications of Electric Power Steering Controller Based on Discrete-Time Sliding Mode Control with Disturbance Observer

In this paper, we propose an electric power steering (EPS) controller based on discrete-time sliding mode control theory. In previous studies, most control logics were developed based on continuous times. However, most vehicle chassis models used in these controllers are based on discrete times. As...

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Bibliographic Details
Published in:International journal of automotive technology 2023, 24(3), 133, pp.883-888
Main Authors: Kim, Sukwon, Choi, Mooryong, Sung, Jonghoon
Format: Article
Language:English
Subjects:
Automobiles
Automotive Engineering
Autonomous vehicles
Closed loop systems
Control theory
Controllers
Design
Discretization
Disturbance observers
Electric power
Electric steering
Embedded systems
Engineering
Logic
Power steering
Sliding mode control
Steering systems
자동차공학
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Summary:In this paper, we propose an electric power steering (EPS) controller based on discrete-time sliding mode control theory. In previous studies, most control logics were developed based on continuous times. However, most vehicle chassis models used in these controllers are based on discrete times. As a result, these control logics require model discretization to be implemented in embedded systems for practical uses which causes time and resource consuming. To overcome this disadvantage, in this study, we designed a discrete-time-based control logic which does not require the model discretization. The performance of the proposed control logic was first verified in the simulation in the loop system environment with MATLAB/Simulink and CarSim. Thereafter, actual vehicle experiments were conducted to demonstrate that the performance of the controller is still valid in real vehicle experiments and the proposed logic is executable on a rapid proto typing system.
ISSN:1229-9138
1976-3832
DOI:10.1007/s12239-023-0072-z