Sliding mode control for an electric power steering system in an autonomous lane keeping system
- Title
- Sliding mode control for an electric power steering system in an autonomous lane keeping system
- Other Titles
- 자동 차선 유지 시스템의 전기식 파워 조향 시스템을 위한 슬라이딩 모드 제어기
- Author
- 정정주
- Keywords
- electric power steering; torque overlay; sliding mode control
- Issue Date
- 2015-02
- Publisher
- Institute of Control
- Citation
- Journal of Institute of Control, Robotics and Systems, v. 21, NO 2, Page. 95-101
- 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. © ICROS 2015.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE06106130http://hdl.handle.net/20.500.11754/22377
- ISSN
- 1976-5622; 2233-4335
- DOI
- 10.5302/J.ICROS.2015.14.9003
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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