Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 63, Issue 2, Pages 591-602Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2013.2279843
Keywords
Active front-wheel steering (AFS); direct yaw-moment control (DYC); four-wheel-independent-drive electric vehicle (4WID-EV); H-infinity-based linear quadratic regulator (LQR); time-varying network delays
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Funding
- National Natural Science Foundation of China [51275264]
- international cooperation projects of new energy vehicle between China and the USA [2010DFA72760-301, 2012DFA81190]
- China Scholarship Council
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This paper deals with the lateral motion control of four-wheel-independent-drive electric vehicles (4WID-EVs) subject to onboard network-induced time delays. It is well known that the in-vehicle network and x-by-wire technologies have considerable advantages over the traditional point-to-point communication. However, on the other hand, these technologies would also induce the probability of time-varying delays, which would degrade control performance or even deteriorate the system. To enjoy the advantages and deal with in-vehicle network delays, an H-infinity-based delay-tolerant linear quadratic regulator (LQR) control method is proposed in this paper. The problem is described in the form of an augmented discrete-time model with uncertain elements determined by the delays. Delay uncertainties are expressed in the form of a polytope using Taylor series expansion. To achieve a good steady-state response, a generalized proportional-integral control approach is adopted. The feedback gains can be obtained by solving a sequence of linear matrix inequalities (LMIs). Cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller. Comparison with a conventional LQR controller is also carried out to illustrate the strength of explicitly dealing with in-vehicle network delays.
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