A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection

This paper addresses the challenges associated with steering-angle control of electric power steering for autonomous vehicles, including model parameter uncertainty, dependency self-aligning moment disturbance estimation on tire parameters, and compensation asymmetrical hysteresis behavior in system caused by backlash gears static friction. A variable gain-sliding mode controller is developed to deal these challenges. Replacing fixed gain sliding solves two problems: it eliminates chattering, allows automatic adjustment based maneuver size error, which need scheduling. Both controllers are derived compared simulations prove superiority controller. observer estimate without required information about makes vehicle independent. The also treats friction as estimates along any other disturbance, such driver torque disturbance. stability both proven using Lyapunov theory. Simulation experimental results proved robustness presented methods above