Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration

DOI10.1016/j.jfranklin.2014.09.019zbMath1307.93134OpenAlexW2062354720MaRDI QIDQ2263639

Junmin Wang, Fengjun Yan, Nan Chen, Hui Zhang, Rongrong Wang

Publication date: 19 March 2015

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2014.09.019

zbMATH Keywords

four-wheel independently actuated electric vehiclesfull-vehicle modelinear parameter-varying (LPV) based robust \(H_\infty\) controllerrobust lateral motion controltire force saturation

Mathematics Subject Classification ID

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

Related Items (11)

Robust \(H_{\infty}\) output-feedback yaw control for vehicles with differential steering ⋮ Active disturbance rejection control for electric power steering system with assist motor variable mode ⋮ Integrated design of control allocation and triple-step control for over-actuated electric ground vehicles with actuator faults ⋮ Optimal workload actuator balancing and dynamic reference generation in active vehicle control ⋮ A hierarchical estimation scheme of tire-force based on random-walk SCKF for vehicle dynamics control ⋮ Lateral motion stability control of electric vehicle via sampled-data state feedback by almost disturbance decoupling ⋮ Reliable sideslip angle estimation of four-wheel independent drive electric vehicle by information iteration and fusion ⋮ Running states estimation of autonomous four-wheel independent drive electric vehicle by virtual longitudinal force sensors ⋮ Robust gain-scheduling static output-feedback \(H_\infty\) control of vehicle lateral stability with heuristic approach ⋮ Trajectory tracking of an autonomous vehicle using immersion and invariance control ⋮ A BP-PID controller-based multi-model control system for lateral stability of distributed drive electric vehicle

Uses Software

• Carsim

Cites Work

• Control allocation -- a survey
• An equivalent LMI representation of bounded real Lemma for continuous-time systems
• Fuzzy optimal control
• Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings

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