Designing a disturbance estimator for electric power steering robust controller

Abstract

Electric power steering, one of the most important advances in the automotive industry, is now found even in the most affordable cars. However, due to the chaotic driving environment, with multiple sources of noise and disturbances affecting the system, effective control of this technology remains a major challenge. Because of manufacturing cost constraints, the use of expensive components, such as high-end microcontrollers or numerous sensors, is not economically viable. Therefore, it is imperative to implement a cost-effective control method that ensures stability, safety, and other necessary requirements. This paper explains the complexities of electric power steering, represents its dynamic nature through mathematical modeling while considering noise and disturbances as integral inputs to the system, and introduces a robust controller designed to estimate these inputs. The method to estimate noise and disturbances using a sliding mode controller is also examined. Finally, the theoretical assertions presented earlier in this paper have been substantiated through meticulous simulations using MATLAB. These simulations have not only confirmed the validity of the claims but also provided a comprehensive evaluation of the system's operational efficacy, ensuring a robust foundation for future research and applications.