This study presents a novel direct yaw-moment control scheme to improve the lateral stability for a four-wheel-independently actuated electric vehicle. The proposed scheme adopts a cascaded structure that consists in an upper and a lower controller. A novel sliding mode prediction controller is proposed and used in the upper controller for deriving the desired additional yaw moment for lateral stability enhancement. By using the historic and current sliding mode information for the futuristic sliding mode dynamic prediction, the synthesised control law exhibits better robustness to matched/unmatched uncertainties and significantly mitigates the chattering phenomenon. An optimisation-based torque allocation algorithm is presented in the lower controller to optimally appropriate the driving torques to each in-wheel motor based on selected criteria. The effectiveness of the proposed method is verified through simulation and hardware-in-the-loop tests, which yields better performance compared to the rule-based method.
Lateral stability enhancement based on a novel sliding mode prediction control for a four-wheel-independently actuated electric vehicle
IET Intelligent Transport Systems ; 13 , 1 ; 124-133
2018-05-30
10 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
stability , current sliding mode information , synthesised control law , direct yaw-moment control scheme , uncertain systems , cascade control , chattering phenomenon , electric vehicles , wheels , optimisation-based torque allocation algorithm , sliding mode dynamic prediction , predictive control , lateral stability enhancement , matched-unmatched uncertainties , optimisation , cascaded structure , hardware-in-the-loop tests , four-wheel-independently actuated electric vehicle , sliding mode prediction control
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