Title :
Robustified model matching control for motion control of electric vehicle
Author :
Sakai, Shin-Ichiro ; Hori, Yoichi
Author_Institution :
Dept. of Electr. Eng., Tokyo Univ., Japan
fDate :
29 Jun-1 Jul 1998
Abstract :
Electric vehicle with in-wheel motors has remarkable advantage in the quick generation of precise torque on each driving wheel. We propose robustified model matching control to achieve robust control of lateral vehicle motion in such electric vehicle. A vehicle controlled with this method can follow the reference of yaw rate or slip angle, even if the modeling error exists. Vehicle with this control has the performance to reject the disturbance like gust of wind, and is able to accelerate or decelerate on the μ-split road safely
Keywords :
electric vehicles; model reference adaptive control systems; road vehicles; robust control; μ-split road; acceleration; deceleration; disturbance rejection; electric vehicle; in-wheel motors; lateral vehicle motion; modeling error; motion control; robust control; robustified model matching control; slip angle; yaw rate; Control systems; Electric motors; Electric variables control; Electric vehicles; Motion control; Roads; Robust control; Torque control; Vehicle dynamics; Wheels;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743600
