Design and experimentation of an LPV extended state feedback control on Electric Power Steering systems - Université Grenoble Alpes
Article Dans Une Revue Control Engineering Practice Année : 2019

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

Olivier Sename
Damien Koenig
Pascal Moulaire
  • Fonction : Auteur

Résumé

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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hal-02169682 , version 1 (25-10-2021)

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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, 2019, 90 (September), pp.123-132. ⟨10.1016/j.conengprac.2019.06.004⟩. ⟨hal-02169682⟩
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