ROBUST CONTROL FOR FOUR WHEEL INDEPENDENTLY-ACTUATED ELECTRIC GROUND VEHICLES BY EXTERNAL YAW-MOMENT GENERATION

YIN, G.; WANG, R.; WANG, J.

doi:2015.16.5.839

International Journal of Automotive Technology > Volume 16(5); 2015 > Article

Fuel Cell, Hybrid and Electrical Vehicle

International Journal of Automotive Technology 2015;16(5): 839-847.
doi: https://doi.org/10.1007/s12239-015-0086-2

ROBUST CONTROL FOR FOUR WHEEL INDEPENDENTLY-ACTUATED ELECTRIC GROUND VEHICLES BY EXTERNAL YAW-MOMENT GENERATION

G. YIN¹, R. WANG¹, J. WANG²

¹Southeast University
²Tsinghua University

ABSTRACT

This paper presents a robust controller for four wheel independently-actuated (FWIA) electric ground vehicles to preserve vehicle stability and improve vehicle handling performance. Thanks to the actuation flexibility of FWIA electric ground vehicles, an external yaw moment, which is usually employed to regulate the vehicle yaw and lateral motions, can be easily generated with the torque differences between the left and right side motors. A

Key Words: Eelectric vehicles, Robust control, Direct yaw moment, μ-synthesis control

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