Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 정정주 | - |
dc.date.accessioned | 2019-12-10T16:32:17Z | - |
dc.date.available | 2019-12-10T16:32:17Z | - |
dc.date.issued | 2018-12 | - |
dc.identifier.citation | SENSORS, v. 18, no. 12, Article no. 4384 | en_US |
dc.identifier.issn | 1424-8220 | - |
dc.identifier.uri | https://www.mdpi.com/1424-8220/18/12/4384 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/121032 | - |
dc.description.abstract | The development of sensor technology enabled the use of composite sensors to measure the torque and angle of steering wheels at gradually decreasing costs while maintaining the required safety. The electric power steering (EPS) is vital to the safety of the car, therefore it is not worth sacrificing safety to save cost and the SWA control with angle sensor gradually becomes the mainstream. Existing methods to control steering wheel angle (SWA) for EPS consider the self-aligning torque as a disturbance that should be rejected. However, this torque is useful to return the SWA from an outward to the center position. Hence, we propose a nonlinear control of SWA using the self-aligning torque for EPS in the lateral control system of autonomous vehicles. The proposed method consists of a high-gain disturbance observer and a backstepping controller, where the former aims to estimate the self-aligning torque, and an auxiliary state variable prevents using the derivative of the measured signal. The nonlinear controller is designed via backstepping to bound the SWA tracking error. The self-aligning torque provides damping that can improve the controller tracking when following the same direction of the input torque on the steering wheel control. In this case, the control input can be reduced by the damping effect of the self-aligning torque. The performance of the proposed method is validated through EPS hardware-in-the-loop simulation. | en_US |
dc.description.sponsorship | This work was supported by the Industrial Source Technology Development Program (10044620, Automatic lane change system for novice drivers) funded by the Ministry of Trade, Industry and Energy (MOTIE, Korea) and by the Development of Source Technologies for IT Software Convergence Business (R7117-16-0164, Development of wide area driving environment awareness and cooperative driving technology which are based on V2X wireless communication) funded by the Ministry of Science, ICT and Future Planning, Korea. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | MDPI | en_US |
dc.subject | electric power steering | en_US |
dc.subject | angle control | en_US |
dc.subject | self-aligning torque | en_US |
dc.subject | backstepping control | en_US |
dc.subject | augmented observer | en_US |
dc.title | Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles | en_US |
dc.type | Article | en_US |
dc.relation.no | 12 | - |
dc.relation.volume | 18 | - |
dc.identifier.doi | 10.3390/s18124384 | - |
dc.relation.page | 1-10 | - |
dc.relation.journal | SENSORS | - |
dc.contributor.googleauthor | Kim, Wonhee | - |
dc.contributor.googleauthor | Kang, Chang Mook | - |
dc.contributor.googleauthor | Son, Young-Seop | - |
dc.contributor.googleauthor | Chung, Chung Choo | - |
dc.relation.code | 2018007781 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF ELECTRICAL AND BIOMEDICAL ENGINEERING | - |
dc.identifier.pid | cchung | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.