期刊
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
卷 41, 期 12, 页码 3340-3351出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0142331218824385
关键词
Electric power steering (EPS); Takagi-Sugeno Model; fuzzy Lyapunov function; saturated control; static output feedback control (SOF); H-infinity performance
This paper presents an H-infinity static output-feedback control of electrical power steering (EPS) subject to actuator saturation. It deals with different practical problems in designing control of EPS systems, such as unavailability for measurement of the sideslip angle, friction effect, disturbances and the assist motor input current optimization. In order to guarantee good and stable driving, the nonlinear model of the EPS combined with bicycle model of electrical vehicles is used. Firstly, a new Takagi-Sugeno model is established, then using a fuzzy Lyapunov function, an H-infinity static output-feedback is designed in terms of linear matrix inequalities. Finally, the proposed control schemes are applied to an EPS system. Simulation results and comparison with previous works show the effectiveness of the proposed control methods.
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