Development of a Hybrid Control Algorithm Based on a Combination of Robust Nonlinear Techniques for Electric Power Steering

IF 3.6 3区计算机科学 Q2 COMPUTER SCIENCE, INFORMATION SYSTEMS

IEEE Access Pub Date : 2025-08-29 DOI:10.1109/ACCESS.2025.3603623

Tuan Anh Nguyen

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Abstract

This work proposes a hybrid nonlinear control algorithm for electric power steering (EPS) systems, designed by integrating backstepping control (BSC), sliding mode control (SMC), and proportional-integral (PI) control. The robustness of SMC against external disturbances and the flexible trajectory handling of BSC are combined to achieve high-performance control. Meanwhile, PI controllers compensate for phase differences and tracking errors. Their gains are optimally tuned using a dual-loop optimization framework, which is later extended with fuzzy logic to enhance adaptability under varying operating conditions. System stability is rigorously analyzed and proven via Lyapunov theory. A dynamic EPS model is developed to account for disturbances (road reaction torques and external disturbances). Numerical simulations validate the proposed method, showing that the maximum tracking error remains below 0.01 rad, with root mean square error (RMSE) approaching zero. The proposed controller effectively suppresses chattering and eliminates phase lag, ensuring robust and precise steering assistance under various driving conditions.

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基于鲁棒非线性技术的电动助力转向混合控制算法研究

本文提出了一种混合非线性控制算法，用于电动助力转向（EPS）系统，该算法集成了反步控制（BSC）、滑模控制（SMC）和比例积分（PI）控制。将SMC对外部干扰的鲁棒性与BSC的柔性轨迹处理相结合，实现了高性能控制。同时，PI控制器对相位差和跟踪误差进行补偿。它们的增益采用双环优化框架进行优化调整，然后用模糊逻辑进行扩展，以增强对不同操作条件的适应性。通过李亚普诺夫理论对系统的稳定性进行了严格的分析和证明。建立了一个动态EPS模型来考虑干扰（道路反力扭矩和外部干扰）。仿真结果表明，该方法的最大跟踪误差保持在0.01 rad以下，均方根误差（RMSE）接近于零。该控制器能有效地抑制抖振和消除相位滞后，保证在各种驾驶条件下的鲁棒性和精确性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Access COMPUTER SCIENCE, INFORMATION SYSTEMSENGIN-ENGINEERING, ELECTRICAL & ELECTRONIC

CiteScore

9.80

自引率

7.70%

发文量

6673

审稿时长

6 weeks

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