Time Delay Controller(TDC) Design of Electric Power Steering(EPS) for Lateral Control in Automated Vehicles

Abstract

This paper presents a steering wheel angle control algorithm for automated driving vehicles. Time-delay-controller has been applied and aims at tracking desired steering wheel angle with robustness against disturbance. Rack force in Electric Power Steering(EPS) system due to self-aligning torque and system uncertainty have been considered as the disturbance. The proposed control method requires only control input and states information at previous step in order to generate torque input command. Therefore, the control strategy covers uncertainty of steering system. The performance of the steering wheel angle controller was validated via computer simulation and vehicle test results. The proposed control algorithm compensated disturbance of the Electric Power Steering(EPS) system and reduced steering wheel angle tracking error.