A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection
This paper addresses the challenges associated with steering-angle control of electric power steering for autonomous vehicles, including steering model parameter uncertainty, dependency of self-aligning moment disturbance estimation on tire parameters, and compensation for the asymmetrical hysteresi...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-04-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/11/9/1337 |
| _version_ | 1797505201748312064 |
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| author | Lubna Khasawneh Manohar Das |
| author_facet | Lubna Khasawneh Manohar Das |
| author_sort | Lubna Khasawneh |
| collection | DOAJ |
| description | This paper addresses the challenges associated with steering-angle control of electric power steering for autonomous vehicles, including steering model parameter uncertainty, dependency of self-aligning moment disturbance estimation on tire parameters, and compensation for the asymmetrical hysteresis behavior in the steering system caused by backlash in gears and static friction. A variable gain-sliding mode steering-angle controller is developed to deal with these challenges. Replacing the fixed gain with variable gain in the sliding mode controller solves two problems: it eliminates chattering, and it allows for automatic gain adjustment based on the maneuver and the size of the error, which eliminates the need for gain scheduling. Both fixed and variable gain-sliding mode controllers are derived and compared in simulations to prove the superiority of the variable gain controller. A sliding mode observer is developed to estimate the self-aligning moment disturbance without required information about the tire parameters, which makes it vehicle independent. The observer also treats the static friction as disturbance and estimates it along with any other disturbance, such as driver torque disturbance. The stability of both the controller and the observer is proven using Lyapunov stability theory. Simulation and experimental results proved the robustness of the presented methods to the above challenges. |
| first_indexed | 2024-03-10T04:15:14Z |
| format | Article |
| id | doaj.art-9fecf49a299f4a7187c58fa7cf47163e |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T04:15:14Z |
| publishDate | 2022-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-9fecf49a299f4a7187c58fa7cf47163e2023-11-23T08:02:07ZengMDPI AGElectronics2079-92922022-04-01119133710.3390/electronics11091337A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance RejectionLubna Khasawneh0Manohar Das1Department of Electrical and Computer Engineering, Oakland University, Rochester, MI 48309, USADepartment of Electrical and Computer Engineering, Oakland University, Rochester, MI 48309, USAThis paper addresses the challenges associated with steering-angle control of electric power steering for autonomous vehicles, including steering model parameter uncertainty, dependency of self-aligning moment disturbance estimation on tire parameters, and compensation for the asymmetrical hysteresis behavior in the steering system caused by backlash in gears and static friction. A variable gain-sliding mode steering-angle controller is developed to deal with these challenges. Replacing the fixed gain with variable gain in the sliding mode controller solves two problems: it eliminates chattering, and it allows for automatic gain adjustment based on the maneuver and the size of the error, which eliminates the need for gain scheduling. Both fixed and variable gain-sliding mode controllers are derived and compared in simulations to prove the superiority of the variable gain controller. A sliding mode observer is developed to estimate the self-aligning moment disturbance without required information about the tire parameters, which makes it vehicle independent. The observer also treats the static friction as disturbance and estimates it along with any other disturbance, such as driver torque disturbance. The stability of both the controller and the observer is proven using Lyapunov stability theory. Simulation and experimental results proved the robustness of the presented methods to the above challenges.https://www.mdpi.com/2079-9292/11/9/1337electric power steeringsteering angle controlsliding mode controlsliding mode observerautonomous vehicles |
| spellingShingle | Lubna Khasawneh Manohar Das A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection Electronics electric power steering steering angle control sliding mode control sliding mode observer autonomous vehicles |
| title | A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection |
| title_full | A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection |
| title_fullStr | A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection |
| title_full_unstemmed | A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection |
| title_short | A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection |
| title_sort | robust electric power steering angle controller for autonomous vehicles with disturbance rejection |
| topic | electric power steering steering angle control sliding mode control sliding mode observer autonomous vehicles |
| url | https://www.mdpi.com/2079-9292/11/9/1337 |
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