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. Due to 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 tire force constraints are considered in the controller design as well. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the control approach.


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    Title :

    Robust lateral-plane motion control of four-wheel independently actuated electric vehicles


    Contributors:
    Wang, Rongrong (author) / Hui Jing (author) / Nan Chen (author) / Zhang, Hui (author)


    Publication date :

    2014-06-01


    Size :

    631307 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English