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