Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels as control inputs. The proposed method is implemented in a simulation and in an experimental system, and the results show the effectiveness of the proposed method.


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    Title :

    Control of a four-wheel independently driven electric vehicle with a large sideslip angle


    Contributors:


    Publication date :

    2014-12-01


    Size :

    401982 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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