Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration

Abstract 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 ∞ 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.

[1]  Hui Zhang,et al.  Parameter-dependent mixed ℋ2/ℋ∞ filtering for linear parameter-varying systems , 2012, IET Signal Process..

[2]  Hui Zhang,et al.  Robust energy-to-peak filtering for networked systems with time-varying delays and randomly missing data , 2010 .

[3]  Hui Zhang,et al.  Robust gain-scheduling energy-to-peak control of vehicle lateral dynamics stabilisation , 2014 .

[4]  C. C. Chan,et al.  The state of the art of electric and hybrid vehicles , 2002, Proc. IEEE.

[5]  Tor Arne Johansen,et al.  Control allocation - A survey , 2013, Autom..

[6]  Javier M. Solis,et al.  On the Control Allocation for Coordinated Ground Vehicle Dynamics Control Systems , 2007, 2007 American Control Conference.

[7]  Jo Yung Wong,et al.  Theory of ground vehicles , 1978 .

[8]  Nong Zhang,et al.  Stabilizing Vehicle Lateral Dynamics With Considerations of Parameter Uncertainties and Control Saturation Through Robust Yaw Control , 2010, IEEE Transactions on Vehicular Technology.

[9]  Dimitar Filev,et al.  Fuzzy optimal control , 1992 .

[10]  Xiaoming Chen.  An Equivalent LMI Representation of Bounded Real Lemma for Continuous-Time Systems , 2008 .

[11]  Junmin Wang,et al.  Coordinated and Reconfigurable Vehicle Dynamics Control , 2009, IEEE Transactions on Control Systems Technology.

[12]  Huijun Gao,et al.  Multi-Objective Robust $H_{\infty}$ Control of Spacecraft Rendezvous , 2009, IEEE Transactions on Control Systems Technology.

[13]  Marc Bodson,et al.  Evaluation of optimization methods for control allocation , 2001 .

[14]  Ossama Mokhiamar,et al.  Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control , 2004 .

[15]  A.S. Hodel,et al.  Control of a ground vehicle using quadratic programming based control allocation techniques , 2004, Proceedings of the 2004 American Control Conference.

[16]  Sung-Ho Hwang,et al.  Vehicle Stability Enhancement of Four-Wheel-Drive Hybrid Electric Vehicle Using Rear Motor Control , 2008, IEEE Transactions on Vehicular Technology.

[17]  Shin-ichiro Sakai,et al.  Motion control in an electric vehicle with four independently driven in-wheel motors , 1999 .

[18]  Masao Nagai,et al.  Independent wheel torque control of small-scale electric vehicle for handling and stability improvement , 2003 .

[19]  J. Christian Gerdes,et al.  Autonomous Vehicle Control at the Limits of Handling , 2012 .

[20]  C. C. Chan,et al.  The State of the Art of Electric, Hybrid, and Fuel Cell Vehicles , 2007, Proceedings of the IEEE.

[21]  Endra Joelianto,et al.  ANFIS – Hybrid Reference Control for Improving Transient Response of Controlled Systems Using PID Controller , 2013 .

[22]  Hui Zhang,et al.  On Energy-to-Peak Filtering for Nonuniformly Sampled Nonlinear Systems: A Markovian Jump System Approach , 2014, IEEE Transactions on Fuzzy Systems.

[23]  Junmin Wang,et al.  Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors , 2011 .

[24]  Yoichi Hori,et al.  Dynamic driving/braking force distribution in electric vehicles with independently driven four wheels , 2002 .

[25]  Junmin Wang,et al.  Fault-Tolerant Control for Electric Ground Vehicles With Independently-Actuated In-Wheel Motors , 2012 .

[26]  Nobuyoshi Mutoh,et al.  Electric Braking Control Methods for Electric Vehicles With Independently Driven Front and Rear Wheels , 2007, IEEE Transactions on Industrial Electronics.

[27]  K. D. Do,et al.  Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings , 2010, Int. J. Control.

[28]  Plamen P. Angelov,et al.  Online self-evolving fuzzy controller for autonomous mobile robots , 2011, 2011 IEEE Workshop on Evolving and Adaptive Intelligent Systems (EAIS).

[29]  Ali Khaki-Sedigh,et al.  Adaptive Vehicle Lateral-Plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration , 2009, IEEE Transactions on Vehicular Technology.