Two-degree-of-freedom LPV control for a through-the-road hybrid electric vehicle via torque vectoring

This paper presents an application of linear-Parameter-Varying (LPV) control to solve the torque vectoring problem of a through-the-road hybrid electric vehicle (TtR-HEV). To achieve high performance both in reference tracking and disturbance rejection, a two-degree-of-freedom LPV self-scheduled controller is synthesized by using mixed sensitivity loop shaping. The controller is based on a single Lyapunov function and guarantees stability and a level of control performance for all admissible trajectories of varying parameters. Moreover, an anti-windup control scheme is derived by employing a two-step design procedure. Finally the designed controller is tested in various driving maneuvers and compared with a flatness-based controller.