Robust output-feedback yaw control for in-wheel motor driven electric vehicles with differential steering

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• 作者：Rongrong Wang^a ; ^{wrr06fy@gmail.com" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Hui Jing^a ; ^b ; ^{jinghui@guet.edu.cn" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Chuan Hu^c ; ^{huc7@mcmaster.ca" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Mohammed Chadli^d ; ^{mchadli@u-picardie.fr" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Fengjun Yan^c ; ^{yanfeng@mcmaster.ca" class="auth_mail" title="E-mail the corresponding author}Author Vitae
• 关键词：Electric ground vehicles ; In-wheel motor ; Differential steering ; Output-feedback control ; Robust H&infin ; H&infin ; control
• 刊名：Neurocomputing
• 出版年：2016
• 出版时间：15 January 2016
• 年：2016
• 卷：173
• 期：part_P3
• 页码：676-684
• 全文大小：1165 K

文摘

This paper investigates the yaw control issue for in-wheel-motor (IWM) electric ground vehicles (EGVs) based on the differential steering in the presence of the complete failure of the active front-wheel steering. Differential steering is an emerging steering mechanism, generated from the differential torque between the left and right wheels in IWM EGVs. In case that the regular steering system is defective, differential steering can be utilized to act as the sole steering power, and thus avoid dangerous consequences for vehicles. For this purpose, a robust ca9b131569c64d4bda6dedd3" title="Click to view the MathML source">H_∞$H_{\infty }$ output-feedback controller based on differential steering is designed to achieve yaw stabilization, considering that the desired steering angle is uncertain and hard to obtain. Parameter uncertainties for the cornering stiffnesses and the external disturbances are considered to make vehicle robust to different driving conditions. CarSim-Simulink joint simulation results based on a high-fidelity and full-car model verify the effectiveness of the proposed controller to guarantee the equal vehicle handling and stability.