Title :
Robust lateral-plane motion control of four-wheel independently actuated electric vehicles
Author :
Rongrong Wang ; Hui Jing ; Nan Chen ; Hui Zhang
Author_Institution :
Sch. of Mech. Eng., Southeast Univ., Nanjing, China
Abstract :
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. Due to the possible modeling inaccuracies and parametric uncertainties, a linear parameter-varying (LPV) based robust H∞ controller is designed to yield the desired external yaw moment. The tire force constraints are considered in the controller design as well. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the control approach.
Keywords :
H∞ control; electric vehicles; motion control; robust control; tyres; electric ground vehicles; external yaw moment; four-wheel independently actuated electric vehicles; linear parameter-varying based robust H∞ controller; robust lateral-plane motion control; tire force saturations; vehicle lateral-plane motion stability control; Force; Motion control; Robustness; Symmetric matrices; Tires; Vehicles; Wheels; Vehicle lateral dynamics; electric vehicle; inwheel motor; robust control; yaw moment control;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053024
