Abstract

In this article a robust two-layer control scheme is proposed to improve the performance of Four-Wheel Independent-Drive (4-WID) electric vehicles. The main objective is to enhance the lateral motion performance of electric vehicle under various manoeuvres and in the existence of parameter uncertainties and exterior disturbances. The upper-layer control law is proposed according to a novel terminal sliding mode approach formulated using the longitudinal velocity and yaw rate dynamics of the electric vehicle. It aims at generating the desired driving forces of each tire along with the vehicle's yaw momentum while guaranteeing chattering-free motion and finite-time stability in the existence of parametric uncertainties and disturbances. The lower-layer control law is formulated in the light of a constrained optimization problem to generate the optimal forces and torques for the in-wheel electric motors and achieve the desired longitudinal force and yaw momentum. The efficacy of the suggested approach is confirmed using CARSIM; a high-fidelity simulation package. Its performance analysis considered three standard driving manoeuvres and included a comparative analysis of other designs. The obtained results show that the offered methodology ensures the finite-time stability of the vehicle and improves its manoeuvrability and tracking performance under various driving conditions.

Highlights

  • T HE tendency to use cars for everyday works is increasing dramatically all over the world

  • The upperlayer control law is formulated via Terminal SlidingMode Control (TSMC) approach and aims at introducing an appropriate sliding surface to produce the longitudinal force Fxdes, and yaw momentum Mzdes which guarantee finite-time convergence and reference model tracking in the existence of external disturbances and parameter uncertainties

  • The lower-layer controller is designed to achieve the optimal torques that are produced by the in-wheel motors to obtain the desired longitudinal force and yaw momentum provided by the upper-layer control law

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Summary

INTRODUCTION

T HE tendency to use cars for everyday works is increasing dramatically all over the world. The developments in electronic systems, computers, control systems and measurement sensors have dominant roles in enhancing this tendency over the past two decades [1], [7], [8] The development of these technologies has made it possible to improve the performance of cars in a variety of areas including the car’s lateral stability, optimal fuel consumption and safe cooperative driving [2], [3], [5], [30]. A robust two-layer control approach according to the integral TSMC scheme is designed for performance improvement of the lateral motion of 4-WID electric vehicles with parameter uncertainty and exterior disturbance.

TIRE MODEL
REFERENCE MODEL
UPPER-LAYER CONTROL DESIGN
LOWER-LAYER CONTROL DESIGN
F Fzrl xf l
SIMULATION RESULTS
SINGLE-LANE CHANGE
SLALOM MANEUVER
CONCLUSION
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