Stability analysis of tire force distribution for multi-actuator electric vehicles using generalized frequency variable

Abstract

Tire force distribution is an important topic in motion control of electric vehicles. For years, many researchers have focused on optimal distribution by minimizing a certain cost function. However, no effort has been paid to the stability analysis of tire force distribution theoretically. Let the actuators (in-wheel-motors and steering motors) be the local agents, the electric vehicle can be seen as a special type of multi-agent system. The agents are not decoupled but they physically interact with each other via the vehicle body. As the increasing of the actuator number, stability analysis becomes more and more complex. By modeling the EV system with generalized frequency variable, we propose a systematic scheme that can considerably reduce the burden of stability analysis for tire force distribution.