Abstract A four-wheel-independent-steering (4WIS) electric vehicle (EV) with steer-by-wire (SBW) system is proposed in this paper. The fast terminal sliding mode controller (FTSMC) is designed for the SBW system to suppress external disturbances. Taking unstructured and structured uncertainties into consideration, a robust controller is designed for the 4WIS EV utilizing μ synthesis approach and the controller order reduction is implemented based on Hankel-Norm approximation. Since sideslip angle is the feedback signal of robust controller and it is hard to measure, the extended Kalman filter (EKF) is employed to estimate sideslip angle. To evaluate the vehicle performance with the designed control system, step and sinusoidal steering maneuvers are simulated and analyzed. Simulation results show that the designed control system have good tracking ability, strong robust stability and good robust performance to improve vehicle stability and handing performance.
Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system
International Journal of Automotive Technology ; 18 , 5 ; 785-797
09.07.2017
13 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system
Online Contents | 2017
|Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system
British Library Online Contents | 2017
|Stable steering control method for four-wheel independent steer-by-wire vehicle
Europäisches Patentamt | 2024
|Front Steering Control of Steer-by-Wire Based on Four-Wheel-Steering Theory
British Library Online Contents | 2005
|The integrated control of steer-by-wire and four-wheel-steering
Kraftfahrwesen | 2007
|