This study presents an integrated multi-objective controller for electric vehicles ( EVs) to achieve four main control objectives concurrently, i.e. slip control in traction and braking, lateral stability control, handling improvement, and rollover prevention. The model-based integrated controller provides a centralised structure to improve the overall stability of the vehicle. The proposed controller considers the interactions of different stability objectives and delivers an optimal solution by including all objectives, simultaneously. The main stability issues in vehicle dynamics including slip control in traction and braking, lateral stability, handling improvement, and rollover prevention are integrated and incorporated in this controller. The stability objectives are realised through proper distribution of torques on four independent wheels of EVs. The unified integrated controller is developed using the Model Predictive Control (MPC) approach. Barrier functions are employed to confine the state variables for slip control, lateral stability, and rollover prevention within the handling limits and safe regions of manoeuverability. Simulation results show that the proposed integrated controller can be effectively used for control of different stability and safety issues of EVs in different situations.
Model Predictive Control for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles
Vehicle System Dynamics ; 58 , 1 ; 49-73
2020-01-02
25 pages
Article (Journal)
Electronic Resource
English
Independent braking force control for rollover prevention of heavy duty vehicles
British Library Conference Proceedings | 2008
|Rollover prevention control method for electric vehicle based on model predictive control algorithm
European Patent Office | 2020
|A Study in Rollover Prevention Using Anti-Rollover Braking
SAE Technical Papers | 2000
|Rollover prevention for heavy utility vehicles using active lateral suspension control
Tema Archive | 2002
|