Abstract A robust yaw stability control design based on active front steering control is proposed for in-wheel-motored electric vehicles with a Steer-by-Wire (SbW) system. The proposed control system consists of an inner-loop controller (referred to in this paper as the steering angle-disturbance observer (SA-DOB), which rejects an input steering disturbance by feeding a compensation steering angle) and an outer-loop tracking controller (i.e., a PI-type tracking controller) to achieve control performance and stability. Because the model uncertainties, which include unmodeled high frequency dynamics and parameter variations, occur in a wide range of driving situations, a robust control design method is applied to the control system to simultaneously guarantee robust stability and robust performance of the control system. The proposed control algorithm was implemented in a CaSim model, which was designed to describe actual in-wheel-motored electric vehicles. The control performances of the proposed yaw stability control system are verified through computer simulations and experimental results using an experimental electric vehicle.


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    Title :

    Robust yaw stability control for electric vehicles based on active front steering control through a steer-by-wire system


    Contributors:
    Nam, K. (author) / Oh, S. (author) / Fujimoto, H. (author) / Hori, Y. (author)

    Published in:

    Publication date :

    2012-12-01


    Size :

    8 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English






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