Article Sidebar
Published:
17/12/2025
Abstract Views: 0
Views PDF: 0
Views PDF: 0
Issue
Section
Articles
How to Cite
Nguyen, T. A., Nguyen, D. N., Hoang, T. B., & Duong, T. H. (2025). A Super-Twisting sliding mode control combined with a fuzzy logic scheme for improving electric power steering performance. Journal of Water Resources & Environmental Engineering, 97, 115-120. https://dev.vojs.vn/index.php/jwree/article/view/25
A Super-Twisting sliding mode control combined with a fuzzy logic scheme for improving electric power steering performance
Main Article Content
Abstract
This paper presents the design of a robust control mechanism that integrates the Super-Twisting Sliding Mode Control with a fuzzy logic scheme (FSTSMC). The selected control law mitigates chattering effects while maintaining a simple structural form. The theoretical stability of the closed-loop system is examined using Lyapunov criteria to guarantee convergence. The control parameter is adjusted through a fuzzy mechanism with two inputs to improve the system’s adaptability to parameter uncertainties, which are typically neglected in conventional control law design. Numerical simulation results demonstrate that the proposed controller achieves superior tracking performance compared with conventional SMC. Specifically, the Root Mean Square (RMS) tracking error does not exceed 0.04% in the absence of parameter uncertainties and remains below 3.55% when uncertainties are considered, except for the motor current (5.867%). In addition, the proposed scheme significantly suppresses chattering, which is still seen in conventional SMC.
Article Details
Keywords
Electric power steering, super-twisting sliding mode control, parameter uncertainties, vehicle dynamics.
References
D. Lee, et al. (2019). A development of the model based torque feedback control with disturbance observer for electric power steering system, SAE Technical Papers.
M. B. Baharom, K. Hussain, A. J. Day (2013). Design of electric full power steering with enhanced performance over that of hydraulic power-assisted steering, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 227, no. 3, pp. 390–399.
M. Irmer and H. Henrichfreise. (2020). Design of a robust LQG compensator for an electric power steering, IFAC PapersOnLine, vol. 53, no. 2, pp. 6624–6630.
M. K. Hassan, et al. (2012). Optimal design of electric power assisted steering system (EPAS) using GA-PID method, Procedia Engineering, vol. 41, pp. 614–621.
S. Kim, M. Choi, and J. Sung (2023). Experimental verifications of electric power steering controller based on discrete-time sliding mode control with disturbance observer, International Journal of Automotive Technology, vol. 24, no. 3, pp. 883–888.
T. A. Nguyen (2025). A linear quadratic tracking control strategy based on fuzzy for electric power steering systems, Advances in Mechanical Engineering, vol. 17, no. 2.
W. Zhao and H. Zhang (2018). Coupling control strategy of force and displacement for electric differential power steering system of electric vehicle with motorized wheels, IEEE Transactions on Vehicular Technology, vol. 67, no. 9, pp. 8118–8128.
Y. Li, et al. (2019). Dual-motor full-weight electric power steering system for commercial vehicle, International Journal of Automotive Technology, vol. 20, no. 3, pp. 477–486.
Z. A. Zheng and J. C. Wei (2023). Research on electric power steering fuzzy PI control strategy based on phase compensation, International Journal of Dynamics and Control, vol. 11, pp. 1867–1879.
M. B. Baharom, K. Hussain, A. J. Day (2013). Design of electric full power steering with enhanced performance over that of hydraulic power-assisted steering, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 227, no. 3, pp. 390–399.
M. Irmer and H. Henrichfreise. (2020). Design of a robust LQG compensator for an electric power steering, IFAC PapersOnLine, vol. 53, no. 2, pp. 6624–6630.
M. K. Hassan, et al. (2012). Optimal design of electric power assisted steering system (EPAS) using GA-PID method, Procedia Engineering, vol. 41, pp. 614–621.
S. Kim, M. Choi, and J. Sung (2023). Experimental verifications of electric power steering controller based on discrete-time sliding mode control with disturbance observer, International Journal of Automotive Technology, vol. 24, no. 3, pp. 883–888.
T. A. Nguyen (2025). A linear quadratic tracking control strategy based on fuzzy for electric power steering systems, Advances in Mechanical Engineering, vol. 17, no. 2.
W. Zhao and H. Zhang (2018). Coupling control strategy of force and displacement for electric differential power steering system of electric vehicle with motorized wheels, IEEE Transactions on Vehicular Technology, vol. 67, no. 9, pp. 8118–8128.
Y. Li, et al. (2019). Dual-motor full-weight electric power steering system for commercial vehicle, International Journal of Automotive Technology, vol. 20, no. 3, pp. 477–486.
Z. A. Zheng and J. C. Wei (2023). Research on electric power steering fuzzy PI control strategy based on phase compensation, International Journal of Dynamics and Control, vol. 11, pp. 1867–1879.