Interacting multiple model-based adaptive control system for stable steering of distributed driver electric vehicle under various road excitations

Abstract

Distributed driver electric vehicle (DDEV) works under various road excitations in practice, which may cause the changes in steering performance significantly. However, the various road excitations are not a priority for stable steering problem of DDEV, and this possibly leads to unstable steering performance, particularly oversteer or tail flick. To solve this problem, an interacting multiple model-based adaptive control system (IMM-ACS) is presented in this work. The proposed IMM-ACS integrates an interacting multiple model controller (IMMC) and a stable steering controller (SSC). The IMMC is designed to establish an adaptive vehicle model based on four typical road models, and to improve the adaptability of control system to various road excitations by the model interaction method. The SSC is designed to guarantee the yaw and longitudinal stability based on the adaptive vehicle model, by the active steering and torque distribution, and the SSC is realized by the model predictive controller (MPC). Besides, this work establishes a Carsim-Matlab co-simulation platform, where the simulation is designed and the results show that the proposed IMM-ACS can achieve excellent steering performance for DDEV with the adaptive capacity.