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

Author

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  • Rongrong Wang
  • Hamid Reza Karimi
  • Nan Chen
  • Guodong Yin
  • Jinxiang Wang

Abstract

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.

Suggested Citation

  • Rongrong Wang & Hamid Reza Karimi & Nan Chen & Guodong Yin & Jinxiang Wang, 2013. "Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-8, December.
    • Handle: RePEc:hin:jnlmpe:819302
    DOI: 10.1155/2013/819302
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