Design of Adaptive Backstepping Control for an Electric Power Steering Using Disturbance Estimation

The electric power steering (EPS) system is a critical component in modern vehicles, providing efficiency, enhanced control and flexibility, improved safety, and reduced maintenance requirements. However, achieving high-precision tracking control for EPS presents a significant challenge due to parametric uncertainty and external load disturbances. In this paper, a simplified mathematical model of the EPS system is established using three system state variables. A disturbance observer is then developed to account for external load disturbances. The integration of adaptive backstepping control with disturbance estimation is explored to achieve robust tracking performance and mitigate the impact of parametric uncertainty. Finally, simulation studies are conducted to demonstrate the effectiveness of the proposed algorithm for the EPS system, highlighting its advantages over other control methods.