Lyapunov-based control system design for trajectory tracking in electrical autonomous vehicles with in-wheel motors

DOI10.1016/J.JFRANKLIN.2024.106736MaRDI QIDQ6495066

Ali Ghaffari, Abbas Aliabadi, Shahram Azadi, Hamid Rahmanei

Publication date: 30 April 2024

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

zbMATH Keywords

sliding mode controlforce distributionautonomous vehiclesLyapunov-based controlpacejka tire model

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Hierarchical systems (93A13) Variable structure systems (93B12)

Cites Work

• Robust fault-tolerant control for four-wheel individually actuated electric vehicle considering driver steering characteristics
• Decentralized integration of constrained active steering and torque vectoring systems to energy-efficient stability control of electric vehicles
• Integrated tire slip energy dissipation and lateral stability control of distributed drive electric vehicle with mechanical elastic wheel
• Hierarchical estimation of vehicle state and tire forces for distributed in-wheel motor drive electric vehicle without previously established tire model
• Second-order sliding mode control for nonlinear fractional-order systems
• A BP-PID controller-based multi-model control system for lateral stability of distributed drive electric vehicle

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