자율주행 차량의 횡방향 제어를 위한 전기식 파워 조향기의 슬라이딩 모드 제어기 설계
- Title
- 자율주행 차량의 횡방향 제어를 위한 전기식 파워 조향기의 슬라이딩 모드 제어기 설계
- Other Titles
- Sliding Mode Controller Design of Electric Power Steering for Lateral Control in Autonomous Vehicles
- Author
- 정정주
- Keywords
- 전기식 파워 조향기; 슬라이딩 모드; 히스테리시스; Electric Power Steering; Sliding mode; Hysteresis
- Issue Date
- 2014-05
- Publisher
- 한국자동차공학회 / The Korean Society Of Automotive Engineers
- Citation
- 2014 KSAE 부문 종합학술대회, 2014, 2014(5), P.683-686
- Abstract
- We propose a torque overlay based robust steering wheel angle control of electric power steering(EPS) for lateral control in autonomous vehicles. We propose second order linear model of EPS with piecewise linear hysteresis. In order to compensate for the nonlinear characteristic of EPS, i.e., hysteresis, we use the inversion error of the hysteresis. The sliding mode control is designed for the robustness against the hysteresis inversion error. The performance of the proposed method was validated via simulations.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE02432076http://hdl.handle.net/20.500.11754/54188
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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