期刊
VEHICLE SYSTEM DYNAMICS
卷 52, 期 12, 页码 1584-1606出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00423114.2014.951661
关键词
vehicle lateral stability control; sliding mode control; fault tolerant; electric vehicle; in-wheel motor
This paper presents a novel sliding mode controller (SMC) and its application in the lateral stability control of a 4-wheel independent drive electric vehicle. The structure of the SMC is modified and online-tuned to ensure vehicle system stability, and to track the desired vehicle motion references when an in-wheel motor fault happens. The proposed controller is faster, more accurate, more robust, and with smaller chattering than common SMCs chatter. The effectiveness of the introduced approach is investigated through conducted simulations in the CARSIM and MATLAB software environments.
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