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Pengxu Li,Panshuo Li,Bin Zhang,Jing Zhao,Baozhu Du 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.1
This paper presents a control strategy to enhance the lateral dynamics stability and handling performanceof 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, anda multi-objective controller is designed to obtain the desired external yaw moment. In the lower layer, an optimalforce 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 ofthe proposed control strategy
Lin Chen,Xiaomeng Li,Wenbin Xiao,Panshuo Li,Qi Zhou 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.9
In this paper, the fuzzy control problem for uncertain time-delay active steering systems with actuator fault is investigated. Due to the variation of vehicle mass, Takagi-Sugeno fuzzy model is introduced to describe the uncertainties by employing the sector nonlinearity method. In the process of signal transmission, the network-induced delay and packet dropouts are unavoidable. To handle this problem, a robust H∞ controller is designed to regulate the vehicle lateral motion. A fault-tolerant controller is designed to reduce the impact of actuator fault on the vehicle active steering systems. Based on the Lyapunov stability theory, sufficient conditions are established to ensure that the resulting closed-loop system is asymptotically stable with the prescribed H∞ performance. Simulation results are provided to confirm the effectiveness and applicability of the proposed control scheme.