A Yaw Stability Control Algorithm for Four-Wheel Independently Actuated Electric Ground Vehicles considering Control Boundaries
Joint Authors
Lin, Cheng
Xu, Zhifeng
Zhang, Ru
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-02-23
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
A hierarchical control algorithm of direct yaw moment control for four-wheel independently actuated (FWIA) electric ground vehicles is presented.
Sliding mode control is adopted to yield the desired yaw moment in the higher layer of the algorithm due to the possible modeling inaccuracies and parametric uncertainties.
The conditional integrator approach is employed to overcome the chattering issue, which enables a smooth transition to a proportional + integral-like controller, with antiwindup, when the system is entering the boundary layer.
The lower level of the algorithm is given to allocate the desired yaw moment to four wheels by means of slip ratio distribution and control for a better grasp of control boundaries.
Simulation results, obtained with a vehicle dynamics simulator, Carsim, and the Matlab/Simulink, show the effectiveness of the control algorithm.
American Psychological Association (APA)
Lin, Cheng& Xu, Zhifeng& Zhang, Ru. 2015. A Yaw Stability Control Algorithm for Four-Wheel Independently Actuated Electric Ground Vehicles considering Control Boundaries. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1073332
Modern Language Association (MLA)
Lin, Cheng…[et al.]. A Yaw Stability Control Algorithm for Four-Wheel Independently Actuated Electric Ground Vehicles considering Control Boundaries. Mathematical Problems in Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1073332
American Medical Association (AMA)
Lin, Cheng& Xu, Zhifeng& Zhang, Ru. A Yaw Stability Control Algorithm for Four-Wheel Independently Actuated Electric Ground Vehicles considering Control Boundaries. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1073332
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1073332