Robust control for four-wheel-independent-steering electric vehicle with steer-by-wire system

被引：45

作者：

Hang, Peng ^{[1
]}

Chen, Xinbo ^{[1
,2
]}

Fang, Shude ^{[1
]}

Luo, Fengmei ^{[1
]}

机构：

[1] Tongji Univ, Sch Automot Studies, Shanghai 201804, Peoples R China

[2] Tongji Univ, Clean Energy Automot Engn Ctr, Shanghai 201804, Peoples R China

来源：

INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY | 2017年 / 18卷 / 05期

关键词：

Four wheel independent steering; Steer by wire; Robust control; Sliding mode control; Extended Kalman filter; OBSERVER;

D O I：

10.1007/s12239-017-0078-5

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A four-wheel-independent-steering (4WIS) electric vehicle (EV) with steer-by-wire (SBW) system is proposed in this paper. The fast terminal sliding mode controller (FTSMC) is designed for the SBW system to suppress external disturbances. Taking unstructured and structured uncertainties into consideration, a robust controller is designed for the 4WIS EV utilizing mu synthesis approach and the controller order reduction is implemented based on Hankel-Norm approximation. Since sideslip angle is the feedback signal of robust controller and it is hard to measure, the extended Kalman filter (EKF) is employed to estimate sideslip angle. To evaluate the vehicle performance with the designed control system, step and sinusoidal steering maneuvers are simulated and analyzed. Simulation results show that the designed control system have good tracking ability, strong robust stability and good robust performance to improve vehicle stability and handing performance.

引用

页码：785 / 797

页数：13

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