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 H \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.


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    Title :

    Robust Lateral Motion Control of Four-Wheel Independently Actuated Electric Vehicles with Tire Force Saturation Consideration


    Additional title:

    Key Technologies on New Energy Vehicles


    Contributors:
    Zhang, Hui (author) / Wang, Rongrong (author) / Wang, Junmin (author)


    Publication date :

    2023-06-11


    Size :

    29 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English