Journal
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
Volume 352, Issue 2, Pages 645-668Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2014.09.019
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Funding
- National Natural Science Foundation of China [51205058, 51375086, 61403252]
- Jiangsu Province Science Foundation for Youths, China [BK20140634]
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The paper 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-infinity 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 control approach. (C) 2014 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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