Open AccessSliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System
Author(s) -
Jun Yu,
Wonhee Kim,
Young Seop Son,
Chung Choo Chung
Publication year - 2015
Publication title -
je-eo lobos siseutem haghoe nonmunji/jeeo robot siseutem hakoe nonmunji
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.215
H-Index - 11
eISSN - 2233-4335
pISSN - 1976-5622
DOI - 10.5302/j.icros.2015.14.9003
Subject(s) - torque , torque steering , robustness (evolution) , control theory (sociology) , power steering , overlay , steering system , sliding mode control , steering wheel , control engineering , engineering , control system , steering linkage , electric power system , computer science , power (physics) , automotive engineering , control (management) , nonlinear system , physics , electrical engineering , quantum mechanics , artificial intelligence , biochemistry , chemistry , gene , thermodynamics , programming language
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. © ICROS 2015