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Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration. (English) Zbl 1307.93134

Summary: The paper presents a vehicle lateral-plane motion stability control approach for Four-Wheel Independently Actuated (FWIA) electric ground vehicles considering the tire force saturations. In order to deal with the possible modeling inaccuracies and parametric uncertainties, a linear parameter-varying (LPV) based robust \(H_\infty\) controller is designed to yield the desired external yaw moment. The lower-level controller operates the four in-wheel (or hub) motors such as the required control efforts can be satisfied. An analytical method without using the numerical-optimization based control allocation algorithms is given to distribute the higher-level control efforts. The tire force constraints are also explicitly considered in the control allocation design. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the control approach.

MSC:

93B35 Sensitivity (robustness)
93B36 \(H^\infty\)-control
93C10 Nonlinear systems in control theory
93C95 Application models in control theory

Software:

Carsim
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Full Text: DOI

References:

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