Gain-scheduled robust control for lateral stability of four-wheel-independent-drive electric vehicles via linear parameter-varying technique

Yaw stability control for a rear double-driven electric vehicle using LPV-H∞ methods

“…Since the description of vehicle dynamics via linear model is inadequate and designing a controller for nonlinear model is complex, this method is quite popular in the filed of vehicle stability control. Several control methods were used with gains scheduling, including proportional-integral-derivative (PID) [2], LQR [21,22], H ∞ control [23,24], energy-to-peak control [25,26], mixed sensitivity loop shaping [27] and even MPC [28]. The scheduling parameters for the controllers were also diverse and varied between several combinations; longitudinal speed [24][25][26], longitudinal speed and yaw rate [27], longitudinal speed and steering input [22], longitudinal speed and cornering stiffness [21], tire slip angles and slip ratio [23], longitudinal acceleration along with steering input and friction coefficient [2].…”

Stabilizing Vehicle Lateral Dynamics with Considerations of State Delay of AFS for Electric Vehicles via Robust Gain‐Scheduling Control

“…, drive‐by‐wire and brake‐by‐wire), and FWID‐EVs utilize in‐wheel motors to drive the wheels such that the torque of each wheel can be controlled independently, which significantly simplify the traditional vehicle structures and provide more flexibilities in vehicle dynamics control . The active front steering system (AFS) provided by steer‐by‐wire technique, together with the direct yaw control system, has the potential to improve vehicle handling stability and safety performance .…”

“…For vehicle lateral dynamics control of FWID‐EVs, a great deal of research has been devoted to AFS . Although the aforementioned research achievements were successful, all of these existing investigations seldom tackle time‐delay problem in the vehicle lateral dynamics control system of FWID‐EVs.…”

“…In contrast to conventional vehicles, the mechanical link between the driver's action and actuator of FWID-EVs has been removed and replaced with X-by-wire system (e.g., drive-by-wire and brake-by-wire), and FWID-EVs utilize in-wheel motors to drive the wheels such that the torque of each wheel can be controlled independently, which significantly simplify the traditional vehicle structures and provide more flexibilities in vehicle dynamics control [1]. The active front steering system (AFS) provided by steer-by-wire technique, together with the direct yaw control system, has the potential to improve vehicle handling stability and safety performance [2,3]. Manuscript For vehicle lateral dynamics control of FWID-EVs, a great deal of research has been devoted to AFS [1][2][3][7][8][9][10].…”

“…The active front steering system (AFS) provided by steer-by-wire technique, together with the direct yaw control system, has the potential to improve vehicle handling stability and safety performance [2,3]. Manuscript For vehicle lateral dynamics control of FWID-EVs, a great deal of research has been devoted to AFS [1][2][3][7][8][9][10]. Although the aforementioned research achievements were successful, all of these existing investigations seldom tackle time-delay problem in the vehicle lateral dynamics control system of FWID-EVs.…”