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Velocity-based Lateral Stability Control for Four-wheel Independently Actuated Electric Vehicles with Homogeneous Polynomial Approach

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Abstract

This paper presents a control strategy to enhance the lateral dynamics stability and handling performance of the four-wheel independently actuated (FWIA) electric vehicles (EVs). The vehicle longitudinal velocity uncertainty and controller saturation are considered, a double layers control scheme is adopted. In the upper layer, the homogeneous polynomial parameter-dependent approach is introduced to track the uncertainty problem, and a multi-objective controller is designed to obtain the desired external yaw moment. In the lower layer, an optimal force distribution method with considering the distribution error and tire workload is employed to allocate the desired external yaw moment into forces of the four in-wheel motors. Simulation results verify the effectiveness of the proposed control strategy.

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Author information

Authors and Affiliations

  1. School of Automation, Guangdong University of Technology, Guangzhou, China

    Pengxu Li, Panshuo Li & Bin Zhang

  2. Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangzhou, China

    Pengxu Li, Panshuo Li & Bin Zhang

  3. Department of Electromechanical Engineering, University of Macau, Taipa, Macau

    Jing Zhao

  4. Institute for Automatic Control and Complex Systems, University of Duisburg-Essen, 47057, Duisburg, Germany

    Baozhu Du

  5. School of Automation, Nanjing University of Science and Technology, Nanjing, China

    Baozhu Du

Authors
  1. Pengxu Li
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  2. Panshuo Li
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  4. Jing Zhao
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  5. Baozhu Du
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Correspondence to Panshuo Li.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Changsun Ahn under the direction of Editor Kyoung Kwan Ahn. This work is supported by the National Natural Science Foundation of China (61703111), Guangdong Natural Science Funds for Distinguished Young Scholar (2019B151502026), the Local Innovative and Research Teams Project of Guangdong Special Support Program (2019BT02X353), the Alexander von Humboldt Foundation, and the Fundamental Research Funds for the Central Universities (30918011206).

Pengxu Li received his B.S. degree in Electrical Engineering and Automation from Guangdong University of Technology, Guangzhou, China, in 2017. He is currently pursuing an M.S. degree in Guangdong University of Technology, Guangzhou, China. His research interests include vehicle stability control, yaw moment control, and multi-objective control.

Panshuo Li received her B.S. and M.S. degrees in Mechanical Engineering from Donghua University and Shanghai Jiao Tong University, Shanghai, China, in 2009 and 2012, respectively. She obtained a Ph.D. degree in Mechanical Engineering from The University of Hong Kong in 2016. Since 2016 she is an Associate Professor in the School of Automation, Guangdong University of Technology, Guangzhou, China. Her current research interests include switched systems, periodic systems, intelligent vehicle control, and vibration control.

Bin Zhang received her B.S. degree from Xiangtan University, Xiangtan, China, in 2007, an M.S. degree and a Ph.D. degree from Central South University, Changsha, China, in 2010 and 2016, respectively. She was a visiting internship student with the School of Electrical and Electronic Engineering, Adelaide University, from March 2013 to June 2013. Now she is a lecturer with School of Automation, at Guangdong University of Technology, Guangzhou, China. Her research interests include fuzzy system, process modeling, intelligent control.

Jing Zhao received his Ph.D. degree in the Department of Electromechanical Engineering, University of Macau, in 2016. He is currently working with the Automotive Engineering Lab, Department of Electromechanical Engineering, University of Macau. His research interests include vehicle dynamics and control, mechanism and machine theory, fluid mechanics and finite element analysis. He has authored and co-authored over 50 papers in journals and conference proceedings.

Baozhu Du received her B.S. degree in Information and Computing Science, and an M.S. degree in Operational Research and Cybernetics from Northeastern University, Shenyang, Liaoning Province, China, in 2003 and 2006, respectively. She obtained a Ph.D. degree in Mechanical Engineering from The University of Hong Kong in 2010. She joined Nanjing University of Science and Technology in April 2011. Her current research interests include stability analysis and robust control/filter theory of time-delay systems, positive systems, Markovian jump systems, and networked control systems.

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Li, P., Li, P., Zhang, B. et al. Velocity-based Lateral Stability Control for Four-wheel Independently Actuated Electric Vehicles with Homogeneous Polynomial Approach. Int. J. Control Autom. Syst. 19, 255–266 (2021). https://doi.org/10.1007/s12555-019-0460-3

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  • DOI: https://doi.org/10.1007/s12555-019-0460-3

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