Precise Control for Uncertain EBooster with Input Restrictions

The precise control of eBooster is crucial for vehicle safety, but doing so is challenging because of the existence of system nonlinearity, uncertainties and input restrictions. This study proposes a precise control for the nonlinear eBooster system considering uncertainties and input restrictions. We restrict the control error to the desired range in order to achieve precise control. A state transformation is used to transform the constrained system with the desired control performance to an unconstrained system. Moreover, the restricted control input is represented as a function of an unlimited auxiliary variable to take the input restrictions into account. For the transformed system with auxiliary variable, a robust control is designed to precisely control the uncertain eBooster with input restrictions. Preliminary experiments and simulations have been performed to verify the eBooster system model and control method.