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.
Flatness based angle control with augmented observer for electric power steering in autonomous vehicles
2017-06-01
528088 byte
Conference paper
Electronic Resource
English
British Library Conference Proceedings | 2017
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