H&lt;inf&gt;∞&lt;/inf&gt; dynamic output feedback control for independently driven four-wheel electric vehicles with differential speed steering

Oke, Paul; Nguang, Sing Kiong; Wen, Jianxiang

doi:10.1109/icinfa.2016.7831886

Cited by 7 publications

(10 citation statements)

References 12 publications

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“…Robust ∞ Controller Formulation. Given , find a controller of the form (22) such that (1) system (19) with (22) is stable and satisfying the following inequality…”

Section: Robust Controller Designmentioning

confidence: 99%

“…Then, system (19) with (22) is stable and the ∞ performance (23) and the input and output constraints (24) hold. Moreover, the controller parameters are given as follows:…”

Section: Robust Controller Designmentioning

confidence: 99%

“…In [19], a dynamic output-feedback controller is designed to realize a differential speed steering control strategy. However, in the previous design, the controller design was performed by linearizing the vehicle under a single operating condition tested for robustness.…”

Section: Introductionmentioning

confidence: 99%

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Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering

Oke

Nguang

2018

Journal of Control Science and Engineering

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This paper examines the problem of designing a robust H∞ output-feedback yaw controller with both input and output constraints for four-wheel independently driven in-wheel electric vehicles (EVs) with differential steering. Specifically, the controller aims are to ensure the stability and improve the performance of the EV despite variations in the road adhesion coefficient, longitudinal velocity, and external disturbance. Based on the linear matrix inequalities approach, sufficient conditions for the existence of an H∞ output-feedback controller for linear systems with polytopic uncertainties, and input and control output constraints, are derived. Then those sufficient conditions are utilized to design an H∞ output-feedback yaw controller that guarantees the robust performance and stability of an EV over a wider range of road conditions. Finally, the capability of the developed controller is simulated on a vehicle model with uncertain road conditions and longitudinal velocities.

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“…Robust ∞ Controller Formulation. Given , find a controller of the form (22) such that (1) system (19) with (22) is stable and satisfying the following inequality…”

Section: Robust Controller Designmentioning

confidence: 99%

“…Then, system (19) with (22) is stable and the ∞ performance (23) and the input and output constraints (24) hold. Moreover, the controller parameters are given as follows:…”

Section: Robust Controller Designmentioning

confidence: 99%

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Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering

Oke

Nguang

2018

Journal of Control Science and Engineering

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“…A complete replacement of the conventional steering to a differential speed steering system is proposed in previous works. [6][7][8] Conversely, this simplicity suggests advanced vehicle packaging flexibility though not necessarily ensuring robustness to variation in operating conditions. 9 Inevitably, FWIDEVs are nonlinear and manifest fast parameter-varying behaviour that must operate safely in broader types of road condition and at different circumstances.…”

Section: Introductionmentioning

confidence: 99%

Robust H_∞ Takagi–Sugeno fuzzy output-feedback control for differential speed steering vehicles

Oke

Nguang

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper studied the modelling and control of four-wheel independently driven electric vehicles using differential speed steering. The Takagi–Sugeno fuzzy modelling approach represents the nonlinearities of the four-wheel independently driven electric vehicle state variables in several system models. The proposed controller design is a robust Takagi–Sugeno fuzzy output-feedback control based on a fuzzy Lyapunov function approach. More precisely, the Lyapunov function is chosen to be dependent on the membership functions. Sufficient conditions for the existence of the robust Takagi–Sugeno fuzzy controller are given in terms of linear matrix inequality constraints. The designed parameters are tested by simulating the four-wheel independently driven electric vehicles under varying operating conditions. The simulation results underscore the robustness and disturbance rejection importance of the proposed controller, which is then contrasted to better highlight the improved performance of the proposed approach over a fixed robust controller design.

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“…Electric vehicles are considered to be an effective way to solve problems such as environmental pollution and energy shortage due to their higher efficiency, low noise and nearly zero emissions [1], [2]. From the view point of control engineering, Four-wheel independent drive electric vehicles (FWIDEVs) have much attractive potential for its four inwheel motors can be controlled independently., which make FWIDEV's handling and stability control become a research hotspot in recent years [3]- [5].…”

Section: Introductionmentioning

confidence: 99%

An Optimal Torque Distribution Control Strategy for Four-Wheel Independent Drive Electric Vehicles Considering Energy Economy

Tao

Xiao

et al. 2019

IEEE Access

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To further improve the energy economy of a four-wheel independent drive electric vehicle (FWIDEV) in the process of vehicle stability control, in this paper, the influence of different wheel torque distributions on vehicle stability and energy economy during vehicle steering is analyzed in depth. Then the wheel torque distribution scheme when the vehicle steering is established. Combined with the economic-based torque distribution strategy applied in the straight running condition, an optimal wheel torque distribution strategy is proposed for FWIDEV to adapt different driving conditions. And the controller designed in this paper adopts hierarchical control structure. The upper controller calculate the corrective yaw moment based on the sliding mode control. The lower controller implements wheel torque distribution according to the proposed strategy. Finally, the simulation results under different driving scenarios indicate that the proposed control strategy can achieve the same effect as the conventional control strategy in terms of vehicle stability, but the energy economy is improved by about 2.4%.INDEX TERMS Electric vehicles, stability control, optimal torque distribution, energy economy.

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H<inf>∞</inf> dynamic output feedback control for independently driven four-wheel electric vehicles with differential speed steering

Cited by 7 publications

References 12 publications

Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering

Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering

Robust H_∞ Takagi–Sugeno fuzzy output-feedback control for differential speed steering vehicles

An Optimal Torque Distribution Control Strategy for Four-Wheel Independent Drive Electric Vehicles Considering Energy Economy

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H<inf>∞</inf> dynamic output feedback control for independently driven four-wheel electric vehicles with differential speed steering

Cited by 7 publications

References 12 publications

Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering

Robust H∞ Output-Feedback Yaw Control for Vehicles with Differential Steering

Robust H∞ Takagi–Sugeno fuzzy output-feedback control for differential speed steering vehicles

An Optimal Torque Distribution Control Strategy for Four-Wheel Independent Drive Electric Vehicles Considering Energy Economy

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Robust H_∞ Takagi–Sugeno fuzzy output-feedback control for differential speed steering vehicles