Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach

Wanke Cao,Yuhua Chang,Zhiyin Liu,Antoni Szumanowski

doi:10.1155/2017/5170492

Wanke Cao, Yuhua Chang + Show 2 more

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https://doi.org/10.1155/2017/5170492

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Abstract

This paper investigates the robust direct yaw-moment control (DYC) through parameter-dependent fuzzy sliding mode control (SMC) approach for all-wheel-independent-drive electric vehicles (AWID-EVs) subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC) method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.

Highlights

In recent years, all-wheel-independent-drive electric vehicles (AWID-EVs) have attracted increasing research efforts from both the academia and industry [1,2,3]
This paper proposed an integrated state-dependent and delay-dependent fuzzy sliding mode control method to improve the robustness of direct yaw-moment control (DYC) of AWID-EVs subject to network-induced delays
The sliding mode control (SMC), which can effectively deal with model uncertainties, system parameter variations, and external disturbances, has been widely used to improve the robustness of DYC of AWID-EVs instead of common continuous control technologies such as linear quadratic regulator (LQR) and PID

Summary

Introduction

All-wheel-independent-drive electric vehicles (AWID-EVs) have attracted increasing research efforts from both the academia and industry [1,2,3]. To improve and ensure the robustness of DYC, in the existing lateral dynamics control strategies of AWIDEVs, sliding mode control (SMC) has been widely adopted, which is robust and suitable for nonlinear systems such as vehicles. The main work is as follows: firstly, the network- induced delays are explicitly considered in the DYC through SMC control method. A parameterdependent fuzzy sliding mode control (FSMC) method based on the real-time information of vehicle states and system delays is proposed to ensure the robustness of DYC for AWID-EVs against network-induced delays.

Problem Formulation

Controller Design

Simulation Results

Conclusions