Model predictive control for integrated longitudinal and lateral stability of electric vehicles with in-wheel motors

DOI10.1049/iet-cta.2020.0122zbMATH Open1542.93101MaRDI QIDQ6609038

Yanjun Huang, Hong Chen, Haitao Ding, Hongyan Guo, Haobo Sun, Nian Wang, Lin Zhang

Publication date: 20 September 2024

Published in: IET Control Theory \& Applications (Search for Journal in Brave)

zbMATH Keywords

stabilitystate constraintstransfer functionvehicle dynamicsnonlinear control systemspredictive controlmodel predictive controlroad vehiclesmotion controlelectric vehicleswheelstorque controlvehicle stabilitypredictive modellateral stabilitycontrol system synthesisstability controlnonlinear MPCtyresautomotive componentsin-wheel motorslongitudinal stabilityyaw rateconstrained online optimisation problemcontrol action energy consumptionhigh sampling ratesintegrated wheel sliplateral tyre forceslinear-parameter-varying modelLPV-MPC approachLPV-MPC methodnonlinear tyre modelnonlinear vehicle model onlineprecise longitudinal controlsideslip angle controlsteering systemsstudy approximative schemestorque vectoring controltyre force coupling relationshiptyre nonlinearitytyre slip ratios

Mathematics Subject Classification ID

Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Linearizations (93B18) Model predictive control (93B45)

Cites Work

• LTV-MPC for yaw rate control and side slip control with dynamically constrained differential braking
• On the convergence properties of Hildreth's quadratic programming algorithm
• A Robust Predictive Control Design for Nonlinear Active Suspension Systems

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