Robust Nonlinear Control of Electric Power Steering System Based on Lyapunov Redesign
Based on the dynamic characteristics of EPS, whole vehicle and tire, the dynamic equation of the EPS system was established. The Krasovk’s method was used to obtian the candidate Lyapunov function for the EPS system. A nonlinear control for EPS system considering parameter uncertainty was presented by Lyapunov redesign approach. The results were obtained from simulation based on Dymola, where is shown that Control law of EPS have the robust performance.
X. C. Huang et al., "Robust Nonlinear Control of Electric Power Steering System Based on Lyapunov Redesign", Advanced Materials Research, Vols. 588-589, pp. 1619-1623, 2012