期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 92, 期 4, 页码 734-744出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2017.1367104
关键词
Electric vehicle; lateral motion stability; sample-data state feedback; almost disturbance decoupling
资金
- Zhejiang Provincial Natural Science Foundation of China [LY16E050003]
The paper presents a lateral motion stability control method for electric vehicle (EV) driven by four in-wheel motors, which considers time-variable vehicle speed and uncertain disturbance caused by external factors. First, an EV lateral motion dynamics tracking control model is presented. Then in order to deal with the uncertain disturbance in the lateral motion model, an almost disturbance decoupling method using sampled-data state feedback is proposed. Third, a sampled-data state feedback controller is constructed based on the state feedback domination approach. The proposed controller can attenuate the disturbances' effect on the output to an arbitrary degree of accuracy. Simulation and test results under different vehicle speeds show the effectiveness of the control method.
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