A Piecewise Affine Robust Yaw Stability Control Method for In-wheel Motor Electric Vehicle

Considering the nonlinear tire force and suspension K&C characteristic, this paper presents a piecewise affine robust yaw stability control method for the in-wheel motor electric vehicle. Using the piecewise linear to approximate front and rear tire force, and additional steering angle to describe the suspension K&C characteristic, a piecewise affine lateral dynamics model with uncertainty disturbance is firstly established. And then, by means of analysis of the dynamic behavior of front and rear tire force, the unreachable piecewise partition is neglected such that the lateral dynamics model is simplified. By using LMI technique, the yaw stability controller which can guarantee the closed-loop stability and Hinf disturbance rejection is obtained. Simulation results show that the yaw stability control method proposed in this paper is feasible and effective. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.