Robust Lateral-Plane Motion Control of Four-wheel Independently Actuated Electric Vehicles

被引：0
|
作者：
Wang, Rongrong [1 ]
Jing, Hui [1 ]
Chen, Nan [1 ]
Zhang, Hui [2 ]
机构：
[1] Southeast Univ, Sch Mech Engn, Nanjing 211189, Jiangsu, Peoples R China
[2] Shanghai Maritime Univ, Sci Res Acad, Shanghai 201306, Peoples R China
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
关键词：
Vehicle lateral dynamics; robust control; in-wheel motor; electric vehicle; yaw moment control; SATURATION; FORCES; SCALE; FRONT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper presents a vehicle lateral-plane motion stability control approach for four-wheel independently actuated (FWIA) electric ground vehicles considering the tire force saturations. Due to the possible modeling inaccuracies and parametric uncertainties, a linear parameter-varying (LPV) based robust H-infinity controller is designed to yield the desired external yaw moment. The tire force constraints are considered in the controller design as well. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the control approach.
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页码：1974 / 1979
页数：6
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