Autonomous drift controller for distributed drive electric vehicle with input coupling and uncertain disturbance

Hou, Xiaohui; Zhang, Junzhi; Ji, Yuan; Liu, Weilong; He, Chengkun

doi:10.1016/j.isatra.2021.03.009

Cited by 20 publications

(2 citation statements)

References 24 publications

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“…In this section, the parameters of the virtual reference are optimized, and a simulation is conducted to verify the control performance of the designed VRFF on the vehicle simulation software, IPG CarMaker. IPG CarMaker has been widely used for validation on vehicle stability and active/semi-active suspension control over the last decade [52][53][54][55]. Through the simulation, the objective functions for the virtual reference are compared to one another.…”

Section: Simulationmentioning

confidence: 99%

Design of Virtual Reference Feedforward Controller for an Active Suspension System

et al. 2022

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Section: Simulationmentioning

confidence: 99%

Design of Virtual Reference Feedforward Controller for an Active Suspension System

et al. 2022

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“…Since the four-wheel motors are mounted on each of the four wheels, this facilitates independent decoupling control of each wheel’s torque [ 2 ]. 4MIDEV is a typical overdrive system [ 3 , 4 ] with more actuators than control system degrees of freedom [ 5 , 6 , 7 ]. Under steering conditions, different control distribution methods yield different torque distribution results when four-wheel torque multi-objective optimization is performed to improve the stability and economy of 4WIDEV [ 8 ].…”

Section: Introductionmentioning

confidence: 99%

Coordinated Optimal Control of AFS and DYC for Four-Wheel Independent Drive Electric Vehicles Based on MAS Model

Zhang

Wang

et al. 2023

Sensors

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The problem that it is difficult to balance vehicle stability and economy at the same time under the starting steering condition of a four-wheel independent drive electric vehicle (4WIDEV) is addressed. In this paper, we propose a coordinated optimal control method of AFS and DYC for a four-wheel independent drive electric vehicle based on the MAS model. Firstly, the angular velocity of the transverse pendulum at the center of mass and the lateral deflection angle of the center of mass are decoupled by vector transformation, and the two-degree-of-freedom eight-input model of the vehicle is transformed into four two-degree-of-freedom two-input models, and the reduced-dimensional system is regarded as four agents. Based on the hardware connection structure and communication topology of the four-wheel independent drive electric vehicle, the reduced-dimensional model of 4WIDEV AFS and DYC coordinated optimal control is established based on graph theory. Secondly, the deviation of the vehicle transverse swing angular velocity and mass lateral deflection angle from their ideal values is oriented by combining sliding mode variable structure control (SMC) with distributed model predictive control (DMPC). A discrete dynamic sliding mode surface function is proposed for the ith agent to improve the robustness of the system in response to parameter variations and disturbances. Considering the stability and economy of the ith agent, an active front wheel steering and drive torque optimization control method based on SMC and DMPC is proposed for engineering applications. Finally, a hardware-in-the-loop (HIL) test bench is built for experimental verification, and the results show that the steering angle is in the range of 0–5°, and the proposed method effectively weighs the system dynamic performance, computational efficiency, and the economy of the whole vehicle. Compared with the conventional centralized control method, the torque-solving speed is improved by 32.33 times, and the electrical consumption of the wheel motor is reduced by 16.6%.

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Fuzzy Logic Based Adaptive Second-Order Nonsingular Terminal Sliding Mode Lateral Control for Uncertain Autonomous Vehicle

Abdillah

Belkheir

Jennan

et al. 2023

Artificial Intelligence and Smart Environment

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Autonomous drift controller for distributed drive electric vehicle with input coupling and uncertain disturbance

Cited by 20 publications

References 24 publications

Design of Virtual Reference Feedforward Controller for an Active Suspension System

Design of Virtual Reference Feedforward Controller for an Active Suspension System

Coordinated Optimal Control of AFS and DYC for Four-Wheel Independent Drive Electric Vehicles Based on MAS Model

Fuzzy Logic Based Adaptive Second-Order Nonsingular Terminal Sliding Mode Lateral Control for Uncertain Autonomous Vehicle

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