Robust Control of Lateral Stability for Intelligent Driving Electric Vehicles
A control strategy is proposed for improving lateral dynamic stability and maneuverability of four-wheel independent drive electric vehicles.Considering the uncertainty in longitudinal velocity and controller saturation,a two-layer control scheme is adopted.In the upper layer,a homogeneous polynomial parameter-dependent approach is introduced to address the uncertainty issue,and a multi-objective controller is designed to achieve the desired lateral yaw moment.In the lower layer,a differential allocation method is employed to distribute the desired lateral yaw moment among the four wheel-hub motors.Simulation results validate the effectiveness of the proposed control strategy.
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