Design and experimentation of an LPV extended state feedback control on Electric Power Steering systems

Kazusa Yamamoto 1, 2 Olivier Sename 2 Damien Koenig 2 Pascal Moulaire 1
2 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
Abstract : This paper deals with Column-type Electric Power Steering systems. An state feedback Linear Parameter-Varying controller is developed considering a parameter-dependent Lyapunov function. For practical implementation, an Proportional Integral observer is added for state and driver torque estimation. The whole observer-based control has been implemented in real-time using dSpace/MicroAutobox on a test car. Some driving tests have been carried out on a test track, and promising results are achieved regarding both estimation and control performances.
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Journal articles
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http://hal.univ-grenoble-alpes.fr/hal-02169682
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Submitted on : Monday, July 1, 2019 - 2:13:14 PM
Last modification on : Wednesday, October 16, 2019 - 3:50:04 PM

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Kazusa Yamamoto, Olivier Sename, Damien Koenig, Pascal Moulaire. Design and experimentation of an LPV extended state feedback control on Electric Power Steering systems. Control Engineering Practice, Elsevier, 2019, 90, pp.123-132. ⟨10.1016/j.conengprac.2019.06.004⟩. ⟨hal-02169682⟩

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