Abstract
This paper presents an integrated optimal dynamics control of four-wheel driving and four-wheel steering (4WD4WS) electric ground vehicles via hierarchical control methodology. In the higher-level design, an LQR controller is proposed to obtain the integrated lateral force and yaw moment, according to their respective reference values. The lower-level controller is designed to ensure all the tires work in the stable region while realizing the tracking control of the vehicle dynamics. The tire-road friction coefficient is estimated through the integrated longitudinal force and lateral force, respectively, using a brush tire model. To reduce the estimation error, a novel data fusion function is employed to generate the final estimation value. Finally, the effectiveness of the proposed control and estimation strategies is validated via CarSim-Simulink joint simulation.
| Original language | English |
|---|---|
| Pages (from-to) | 727-741 |
| Number of pages | 15 |
| Journal | Mechanical Systems and Signal Processing |
| Volume | 60 |
| DOIs | |
| State | Published - 1 Aug 2015 |
| Externally published | Yes |
Keywords
- Active steering
- Electric vehicle
- In-wheel motor
- Robust control
- Vehicle lateral dynamics
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