The chapter presents a vehicle lateral-plane motion stability control approach for four-wheel independently actuated (FWIA) electric ground vehicles considering the tire force saturations. In order to deal with the possible modeling inaccuracies and parametric uncertainties, a linear-parameter-varying (LPV)-based robust \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\mathcal {H}_{\infty }$$\end{document} controller is designed to yield the desired external yaw moment. The lower-level controller operates the four in-wheel (or hub) motors such as the required control efforts can be satisfied. An analytical method without using the numerical optimization-based control-allocation algorithms is given to distribute the higher-level control efforts. The tire force constraints are also explicitly considered in the control-allocation design. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the proposed control approach.
Robust Lateral Motion Control of Four-Wheel Independently Actuated Electric Vehicles with Tire Force Saturation Consideration
Key Technologies on New Energy Vehicles
Robust Gain-Scheduled Estimation and Control of Electrified Vehicles via LPV Technique ; Kapitel : 7 ; 173-201
11.06.2023
29 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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