In this research, a robust H∞ fuzzy state control method is designed to improve the lane keeping performance of four-wheel independently-actuated electric vehicles. This method employs a strategy combining gain scheduling and linear fractional transformation to capture the nonlinear characteristics of the vehicle system and establish a fuzzy optimization system model. To considering the influence of communication network delays on the control system, a delay-based control structure is adopted. The corresponding state feedback controller is obtained through equation solving, utilizing Lyapunov function and designing matrix inequalities. Additionally, an optimized force allocation method is used to distribute the yaw moment generated by the controller output to the hub motors, considering tire load and distribution errors, thereby enhancing the vehicle's stability during steering. Finally, simulation tests conducted on MATLAB/Simulink platform demonstrate that the designed strategy effectively improves the lane keeping performance of vehicle.
Robust fuzzy lane keeping control for four-wheel independently-actuated electric vehicle with actuator delay
2023-01-01
507849 byte
Conference paper
Electronic Resource
English
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