Adaptive Control Allocation with Communication Delay for In-Wheel Propulsion Electric Vehicles

Abstract

In this paper, an integrated, fault-tolerant control approach for yaw stability of ground vehicles is outlined in the presence of actuator and sensor network delay. In order to simultaneously control all actuators in the vehicle, an adaptive control allocation method is used. The proposed control scheme consists of a high level controller that creates a virtual control input vector and a low level control allocation that distributes the virtual control effort among redundant actuators. Virtual control input consists of desired traction force, desired yaw moment and required lateral force correction to ensure stability while following a given reference. Based on this virtual control input vector, the allocation module determines front steering angle correction, rear steering angle, traction forces at each wheel. Presented control structure is simulated by using a 10 Degree of freedom vehicle model. Results show that the proposed approach can follow the references despite the loss of actuator effectiveness in the driving cycle with the presence of delay in the communication system while the system with no adaptive allocation fails to stay on course.