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

Pengxu Li, Panshuo Li*, Bin Zhang, Jing Zhao, and Baozhu Du
International Journal of Control, Automation, and Systems, vol. 19, no. 1, pp.255-266, 2021

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.

Keyword : Multi-objective control, parameter uncertainty, vehicle lateral stability, yaw moment control.

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