In this paper, we propose a flatness based controller which tracks the desired angle of an electric power steering system with augmented observer and a state feedback controller. Unlike the torque-overlayed backstepping method in a lane-keeping system, using the known nominal model parameters results in better tracking performance then the previous method. This method can be implemented as a torque-overlay control as the backstepping controller. From numerical simulations, we observed that the flatness-based steering wheel controller outperforms the backstepping controller.


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    Title :

    Flatness based angle control with augmented observer for electric power steering in autonomous vehicles


    Contributors:


    Publication date :

    2017-06-01


    Size :

    528088 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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