Control of electric power assisted steering system using sliding mode control

This paper presents a robust control design of Electric Power Assisted Steering (EPAS) system. The control is synthesized using integral sliding mode control to ensure the control objectives, such as the steering assist torque generation, the dampening compensation and the robustness to the parameters uncertainty, modeling errors, nonlinearity and disturbances. The driver torque needed to determine the amount of the assist torque and the other information needed to implement the controller are estimated. So, the proposed controller can be implemented without additional sensors. Simulation results show the effectiveness and the robustness of the proposed control.