Time-Delayed Control for Automated Steering Wheel Tracking of Electric Power Steering Systems

We present a time-delayed control (TDC) approach that applies it to the electric power steering (EPS) system for the first time. The TDC approach uses a one-sample delayed information of the system to cancel out uncertain and unknown dynamics, including disturbances. Therefore, it is possible to achieve the dominant pole using the pole-assignment so that it can be easily performed in the desired convergence rate. Moreover, given that tuning parameters of the TDC approach are very few in number, this control approach is very convenient for the practicing engineers who do not have control engineering knowledge. We proved the system criteria for the TDC approach applied to the EPS system and hence can always guarantee the system stability. The effectiveness of the TDC approach is verified through simulations, which is compared to that of the existing control approach.