In this paper the application of a novel controller design approach to a torque vectoring concept is presented. An electrically driven road vehicle with two independent motors is considered, for which a good tracking of longitudinal velocity and yaw rate is to be achieved. For this vehicle an LPV model is developed in linear-fractional transformation (LFT) representation. Based on this, a gain-scheduled controller is designed using parameter-dependent quadratic Lyapunov functions and parameter-dependent shaping filters. In order to avoid performance degradations due to saturation effects, a Torque and Slip Limiter (TSL) scheme in polytopic LPV form is used. Choices both of Lyapunov functions and shaping filters turn out to have a significant influence on the controller performance; this is illustrated in simulation examples. The vehicle is simulated using a 14-degrees-of-freedom vehicle model including a Pacejka tire model. The results indicate a significant performance improvement compared to previous approaches using polytopic LPV controller design with parameter-independent shaping filters. © 2013 AACC American Automatic Control Council.


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    Titel :

    LPV torque vectoring for an electric vehicle using parameter-dependent Lyapunov functions


    Beteiligte:
    Bartels, Marcus (Autor:in) / Liu, Qin (Autor:in) / Kaiser, Gerd (Autor:in) / Werner, Herbert (Autor:in)

    Erscheinungsdatum :

    2013-01-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    620 / 629



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