Abstract
Reconstitution of control architecture creates a great challenge for distributed drive electric vehicles (DDEV), due to the emergence of a new distributed driving strategy. To this end, a novel distributed control architecture is proposed in this paper for integrated control of active front steering (AFS) system and direct yaw moment (DYC) system. First, a multi-agent system (MAS) is employed to construct a general framework, where AFS and DYC act as agents that work together to improve vehicle lateral stability and simultaneously reduce workloads of drivers during path tracking. The cooperative control strategies of two agents are obtained through Pareto-optimality theory to ensure optimal control performance of AFS and DYC. Then, on the basis of dynamic interaction between agents, terminal constraints, including terminal cost function and terminal input with local static feedback, are designed to guarantee the asymptotic stability of the close-loop system. Finally, virtual simulations are conducted to evaluate the proposed controller. The results indicate that the proposed control architecture can effectively preserve vehicle stability and reduce workloads of drivers, especially for the inexperienced driver. Furthermore, the hardware-in-loop (HIL) test results also demonstrate the feasibility of the proposed controller.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
