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.


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    Titel :

    Flatness based angle control with augmented observer for electric power steering in autonomous vehicles


    Beteiligte:
    Jeong, Yong Woo (Autor:in) / Kang, Chang Mook (Autor:in) / Kim, Wonhee (Autor:in) / Lee, Seung-Hi (Autor:in) / Chung, Chung Choo (Autor:in)


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    528088 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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