Robust lateral control of autonomous four-wheel independent drive electric vehicles considering the roll effects and actuator faults

This paper proposes a robust lateral control system with fuzzy state observer based on Takagi-Sugeno fuzzy model of autonomous four-wheel independent drive electric vehicles (A-4WDEVs) considering the roll effects and actuator faults. Firstly, a Takagi-Sugeno fuzzy model of A-4WDEVs with uncertainties, time-varying parameters and actuator faults is presented, which can describes the coupling lateral and roll dynamic features of A-4WDEVs. Then, a robust H-infinity state feedback lateral control system of A-4WDEVs is proposed to deal with the characteristics of uncertainties and external disturbance and produce the desired front wheel steering angle and external yaw moment of A-4WDEVs. Next, the control allocation law of additional longitudinal tire forces of A-4WDEVs is reviewed as a quadratic programming problem to achieve the desired external yaw moment. Furthermore, a Takagi-Sugeno fuzzy observer is designed to estimate the roll angle and roll angle rate of A-4WDEVs in real time. Finally, simulation and experimental results are provided to demonstrate the effectiveness of the proposed control scheme. (C) 2020 Published by Elsevier Ltd.