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http://dx.doi.org/10.5302/J.ICROS.2015.14.9003

Sliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System  

Yu, Jun Young (Department of Electrical Engineering, Hanyang University)
Kim, Wonhee (Department of Electrical Engineering, Dong-A University)
Son, Young Seop (Department of Electrical Engineering, Hanyang University)
Chung, Chung Choo (Division of Electrical and Biomedical Engineering, Hanyang University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.21, no.2, 2015 , pp. 95-101 More about this Journal
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.
Keywords
electric power steering; torque overlay; sliding mode control;
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