H∞ Fuzzy Control for Electrical Power Steering Subject to Actuator Saturation

This paper presents a design of H∞ fuzzy controller for electric power steering (EPS) with actuator saturation. By considering the friction nonlinearity in the steering column, motor column and in the rack, as internal disturbances and using the sector nonlinearity method, a new T-S model is proposed to represent exactly the nonlinear dynamics of an EPS system. To provide a stable driving, an H∞ nonlinear state feedback is designed to control an EPS system in the presence of actuator saturation and internal disturbances. The robust stabilization results of the closed-loop EPS system are formulated and solved as a linear matrix inequality (LMI) optimization problem. Simulation results validate the effectiveness of the proposed study.

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