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Robust tracking controller design with uncertain friction compensation based on a local modeling approach

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This paper presents a novel method for motion control applied to driver stability system of an electric vehicle with independently driven wheels. By formulating the vehicle dynamics using an approximating the tire-force characteristics into piecewise affine functions, the vehicle dynamics cen be described as a linear hybrid dynamical system to design a hybrid model predictive controller. This controller is expected to make the yaw rate follow the reference ensuring the safety of the car passengers. The vehicle speed is estimated using a multi-sensor data fusion method. Simulation results in Matlab/Simulink have shown that the proposed control scheme takes advantages of electric vehicle and enhances the vehicle stability.