Abstract
This paper proposes a hybrid model predictive control (MPC) controller for yaw stability control of distributed drive electric vehicles based on the nonlinear dynamic model. To reduce the computational burden during the optimization process of MPC problem, the vehicle model is formulated by approximating the magic tire model with a set of piecewise linear functions. The dynamic model is equivalently translated into a mixed logical dynamical (MLD) system which is used to design the hybrid MPC controller. To improve the energy efficiency of the system while tracking the reference signals, the input signals are restricted in the high efficiency range of in-wheel motors. Finally, simulation results of different inputs and the comparison of closed-loop and open-loop system indicate the suggested hybrid MPC control method is able to fleetly track the reference and stabilize the vehicle effectively for the test maneuvers.
Sign-in/Register to access full text options 
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.
