Vibration control based on dynamic compensation in an electric power steering system

Robust multi-objective control for systems involving human-in-the-loop passivity constraints with application to electric power steering

“…19, see [8]. Other phase compensators were investigated in [8,21,22]. It is noted that the 1 st DOF in Eq.…”

“…Nevertheless, the lack of analytical description of appropriate control design metrics, such as "feel", and the presence of the human-in-the-loop make control design tasks of EPS systems very challenging. In [21,22], phase compensators are designed to reduce the oscillations resulting from the lightly damped torsion bar mode. The synthesis is based on the closed loop H2−norm minimization.…”

“…The desired performance objectives are [1,3,8,21,22]: (1) better steering "feel", achieved by tracking the "tuned" boost gain, damping the resonant mode of the torsion bar and attenuating the effects of road-tire disturbance forces, (2) closed loop robustness in the presence of the boost-gain nonlinearity, parameter uncertainty and the human driver muscle impedance actuation loop. These objectives will be expressed as the multi-objective formulation discussed in §3 and §5.…”

The optimization of electric power assisted steering to improve vehicle performance

“…Most papers on EPAS have focused on its controlling problem. Two compensators were presented in reference [1]: one was adequate in the case of a high bandwidth actuator, and the other was used to stabilize a low bandwidth actuator with better robustness properties. Optimum design of an EPAS controller was discussed in reference [2], including optimization of DC gain, phase lag, zero and pole locations to obtain high level steering system performance.…”