Direct yaw-moment control for 4WID electric vehicle via finite-time control technique

被引：48
作者：
Ding, Shihong [1 ]
Sun, Jinlin [2 ,3 ]
机构：
[1] Jiangsu Univ, Sch Elect & Informat Engn, Zhenjiang 212013, Peoples R China
[2] Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
[3] Univ Chinese Acad Sci, Beijing 100049, Peoples R China
来源：
NONLINEAR DYNAMICS | 2017年 / 88卷 / 01期
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Finite-time stability; Disturbance observer; Electric vehicle; Direct yaw-moment control; Second-order sliding mode; OUTPUT-FEEDBACK; SIDESLIP ANGLE; SYSTEMS; STABILIZATION; OBSERVER; STABILITY; DESIGN;
D O I：
10.1007/s11071-016-3240-0
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper is concerned with the yaw-moment stabilization for four-wheel independent-drive electric vehicle. A second-order sliding mode observer is first designed to estimate the required sideslip angle in a finite time. Then, the finite-time control technique and nonlinear disturbance observer are applied to construct the upper controller to drive both yaw rate and sideslip angle to their desired values. Finally, the lower controller is developed to distribute the torques to the independent four wheels according to the desired yaw moment obtained by the given upper controller. Comparisons among linear, discontinuous and non-smooth controllers under different working conditions are given by using CarSim software.
引用
收藏
页码：239 / 254
页数：16
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