Robust Control of Path Tracking for Four-Wheel Independent Drive Electric Vehicles

被引：0
|
作者：
Zhang X. [1 ]
Tan Y. [1 ]
Jia Y. [2 ]
Huang J. [2 ]
Xu Q. [1 ]
机构：
[1] Chang’an University, Key Laboratory of Road Construction Technology and Equipment, the Ministry of Education, Xi’an
[2] School of Vehicle and Mobility, Tsinghua University, Beijing
来源：
Qiche Gongcheng/Automotive Engineering | 2023年 / 45卷 / 02期
关键词：
autonomous vehicle; direct yaw moment control; path following control; robust control; vehicle lateral dynamics;
D O I：
10.19562/j.chinasae.qcgc.2023.02.010
中图分类号：
学科分类号：
摘要：
For the characteristics of four-wheel independent drive electric vehicles，such as structural parameters，external disturbance uncertainty，nonlinearity，and over-drive，a hierarchical control framework is proposed to realize the vehicle path tracking control with the coordination of front wheel steering and direct yaw torque control system. Firstly，based on the path tracking kinematics model，the vehicle path tracking problem is transformed into a constrained following problem. Secondly，an adaptive robust upper-layer control algorithm based on constrained following is designed，which can effectively deal with the mismatch problem caused by model uncertainty and external disturbances，and guarantee the consistent boundedness and consistent ultimate boundedness of the closed-loop system. Finally，a quadratic programming-based lower-level allocation algorithm is designed to satisfy the required direct yaw moment. Co-simulation is conducted on the Simulink-Carsim platform. The simulation results of different working conditions show that the designed adaptive robust control algorithm has good path tracking accuracy and robustness. © 2023 SAE-China. All rights reserved.
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页码：253 / 262and312
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