Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

Abstract EN

A vehicle stability control approach for four-wheel independently actuated (FWIA) electric vehicles is presented.

The proposed control method consists of a higher-level controller and a lower-level controller.

An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties.

The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces.

An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms.

Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.