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Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles

1
School of Energy Systems Engineering, Chung-Ang University, Seoul 06974, Korea
2
Department of Electrical Engineering, Hanyang University, Seoul 04764, Korea
3
Automotive Electronics R&D Center, CAMMSYS Corporation, Incheon 22013, Korea
4
Division of Electrical and Biomedical Engineering, Hanyang University, Seoul 04764, Korea
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(12), 4384; https://doi.org/10.3390/s18124384
Received: 14 November 2018 / Revised: 5 December 2018 / Accepted: 6 December 2018 / Published: 11 December 2018
(This article belongs to the Section Physical Sensors)
The development of sensor technology enabled the use of composite sensors to measure the torque and angle of steering wheels at gradually decreasing costs while maintaining the required safety. The electric power steering (EPS) is vital to the safety of the car, therefore it is not worth sacrificing safety to save cost and the SWA control with angle sensor gradually becomes the mainstream. Existing methods to control steering wheel angle (SWA) for EPS consider the self-aligning torque as a disturbance that should be rejected. However, this torque is useful to return the SWA from an outward to the center position. Hence, we propose a nonlinear control of SWA using the self-aligning torque for EPS in the lateral control system of autonomous vehicles. The proposed method consists of a high-gain disturbance observer and a backstepping controller, where the former aims to estimate the self-aligning torque, and an auxiliary state variable prevents using the derivative of the measured signal. The nonlinear controller is designed via backstepping to bound the SWA tracking error. The self-aligning torque provides damping that can improve the controller tracking when following the same direction of the input torque on the steering wheel control. In this case, the control input can be reduced by the damping effect of the self-aligning torque. The performance of the proposed method is validated through EPS hardware-in-the-loop simulation. View Full-Text
Keywords: electric power steering; angle control; self-aligning torque; backstepping control; augmented observer electric power steering; angle control; self-aligning torque; backstepping control; augmented observer
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MDPI and ACS Style

Kim, W.; Kang, C.M.; Son, Y.-S.; Chung, C.C. Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles. Sensors 2018, 18, 4384. https://doi.org/10.3390/s18124384

AMA Style

Kim W, Kang CM, Son Y-S, Chung CC. Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles. Sensors. 2018; 18(12):4384. https://doi.org/10.3390/s18124384

Chicago/Turabian Style

Kim, Wonhee; Kang, Chang M.; Son, Young-Seop; Chung, Chung C. 2018. "Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles" Sensors 18, no. 12: 4384. https://doi.org/10.3390/s18124384

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