This paper is concerned with robust impedance shaping control for electric power steering (EPS) systems. The analysis here presents robust stability conditions for both sector-bounded and passive uncertainties. A 2-DOF controller formed of static output feedback (SOF) gains and a sector-bounded nonlinearity is proposed for the EPS closed loop system. The controller employs torque-feedback inner loop and an outer impedance shaping controller. The controller gains are synthesized via a multi-objective optimization involving nonlinear matrix inequality constraints. An iterative algorithm combining both semi-definite programming (SDP) and genetic algorithms (GA) is implemented to find the (sub)optimal controller gains.
- Dynamic Systems and Control Division
Robust Multi-Objective Impedance Control Design for Electric Power Steering Systems: Preliminary Results
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El-Shaer, AH, & Tomizuka, M. "Robust Multi-Objective Impedance Control Design for Electric Power Steering Systems: Preliminary Results." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 225-233. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8605
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