Robust fixed-structure controller design of electric power steering systems

  • Authors:

  • Ahmed H. El-Shaer;Sumio Sugita;Masayoshi Tomizuka

  • Affiliations:

  • Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA;NSK Research and Development Center, Japan;Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

Quantified Score

Hi-index 0.00

Visualization

Abstract

This paper presents a two-degree-of-freedom controller structure for electric power steering systems. The controller is synthesized using a hybrid linear matrix inequality and genetic algorithms optimization. Robust stability is studied for both sector-bounded and passive uncertainties resulting in a system of linear matrix inequalities (LMIs) and a linear matrix equality (LME). This system of LMIs/LME defines a guaranteed cost H2 optimization subject to an H∞-norm performance as well as a strict-positive-real constraints. Experimental results involving human-in-the-loop show that the control design did satisfy the criteria for robust control and performance. Furthermore, the ease-of-tuning of the proposed controller structure makes it possible to improve the steering "feel".