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

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.

Mots clés

Domaines

Automatique / Robotique

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S0967066118306154.pdf (6.77 Mo)

Origine	Fichiers produits par l'(les) auteur(s)
Licence	CC BY-NC 4.0 - Attribution - Utilisation non commerciale

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https://hal.univ-grenoble-alpes.fr/hal-02169682

Soumis le : lundi 25 octobre 2021-13:29:24

Dernière modification le : samedi 27 septembre 2025-19:32:58

Archivage à long terme le : mercredi 26 janvier 2022-20:11:31

Dates et versions

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

Licence

CC BY-NC 4.0 - Attribution - Utilisation non commerciale

Identifiants

HAL Id : hal-02169682 , version 1
DOI : 10.1016/j.conengprac.2019.06.004
PII : S0967-0661(18)30615-4

Citer

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⟩