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
Authors
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
http://dx.doi.org/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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