Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

Rongrong Wang, Hamid Reza Karimi, Nan Chen, Guodong Yin and Jinxiang Wang

Mathematical Problems in Engineering, 2013, vol. 2013, 1-8

Abstract:

A vehicle stability control approach for four-wheel independently actuated (FWIA) electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.

Date: 2013
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:819302

DOI: 10.1155/2013/819302

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