Abstract
This paper presents a multi-parametric Model Predictive Control (mpMPC) controller employed to improve the performance and robustness of a Column type Electric Power Steering (C-EPS) system. The EPS systems have been regarded as an important aid for drivers owing to their advantages over hydraulic power steering systems. An electric motor attached to the steering mechanism generates the assisted torque to reduce the required driver torque. The MPC has been more frequently used in automotive industries owing to its ability to fulfil hard constraints and anticipate future events; however, as this control scheme is based on online optimization, relatively large computational complexities are inevitably encountered. Therefore, the mpMPC has been suggested to reduce the complexities using a technique called multi-parametric Quadratic Programming (mp-QP), which considers the state vector as a vector of parameters. To verify the performance and the robustness of the proposed controller, a Linear-Quadratic Regulator (LQR) controller is also designed for comparison. A simulation via MATLAB/Simulink varying the parameters in a C-EPS system are conducted in this paper.
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