Robust $H_{\infty}$ Position Controller for Steering Systems

TL;DR

This paper introduces a robust $H_{ ext{infty}}$ position controller for steering systems that improves tracking and robustness by incorporating multi-variable feedback and solving an LMI optimization problem.

Contribution

A novel multi-variable $H_{ ext{infty}}$ control approach for steering systems that enhances robustness against driver arm impedance uncertainties.

Findings

Improved reference tracking demonstrated on real hardware.

Enhanced robustness shown through frequency response analysis.

Experimental results confirm superior performance over traditional controllers.

Abstract

This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance systems and automated driving. However, the driver's \textit{physical} arm impedance causes an inertial uncertainty during coupling. Consequently, a typical position controller, i.e., based on single variable, becomes less robust and suffers tracking performance loss. Therefore, a robust position controller is investigated. The proposed solution is based on the multi-variable concept such that the sensed driver torque signal is also included in the position controller. The subsequent solution is obtained by solving the LMI$-H_{\infty}$ optimization problem. As a result, the desired loop gain shape is achieved, i.e., large gain at low frequencies for performance and small gain at high frequencies for robustness. Finally, frequency response comparison of different position controllers on real hardware is presented. Experiments and simulation results clearly illustrate the improvements in reference tracking and robustness with the proposed $H_\infty$ controller.