In this paper, we propose an electric power steering (EPS) controller based on discrete-time sliding mode control theory. In previous studies, most control logics were developed based on continuous times. However, most vehicle chassis models used in these controllers are based on discrete times. As a result, these control logics require model discretization to be implemented in embedded systems for practical uses which causes time and resource consuming. To overcome this disadvantage, in this study, we designed a discrete-time-based control logic which does not require the model discretization. The performance of the proposed control logic was first verified in the simulation in the loop system environment with MATLAB/Simulink and CarSim. Thereafter, actual vehicle experiments were conducted to demonstrate that the performance of the controller is still valid in real vehicle experiments and the proposed logic is executable on a rapid proto typing system.


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    Title :

    Experimental Verifications of Electric Power Steering Controller Based on Discrete-Time Sliding Mode Control with Disturbance Observer


    Additional title:

    Int.J Automot. Technol.


    Contributors:

    Published in:

    Publication date :

    2023-06-01


    Size :

    6 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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