Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Abstract

This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of H 1 control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.

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

“…In [14], a -synthesis robust controller design improves the yaw motion and chassis sideslip. In a similar study, in [15], the authors designed a controller with the aim of achieving both a neutral steer and a reduction in the sideslip of a four-wheel EV. These studies do not consider the tire force saturation.…”