Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control

Chenning Wang (), Ren He, Zhecheng Jing and Shijun Chen
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Chenning Wang: School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
Ren He: School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
Zhecheng Jing: School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
Shijun Chen: School of Electronic Engineering and Intelligent Manufacturing, Anqing Normal University, Anqing 246133, China

Energies, 2022, vol. 15, issue 15, 1-16

Abstract: A path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultaneously. Firstly, a 2-DOF vehicle dynamic model and a path following error model are built and the desired yaw rate is obtained through backstepping. Then, a model predictive controller is adopted to track the desired yaw rate and obtain the optimal front wheel steering and external yaw moment. Meanwhile, an optimal torque distribution algorithm is carried out to allocate it to each tire. Finally, the effectiveness and superiority of the strategy is validated via CarSim–Simulink joint simulation. Results show that the strategy has higher following accuracy, smaller sideslip angle, and better yaw rate tracking.

Keywords: direct yaw control; active front steering; model predictive control; backstepping; 4WID electrical vehicle (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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