Trajectory Tracking Control for Four-Wheel Independently Driven Electric Vehicle Based on Model Predictive Control and Sliding Model Control

Abstract

This paper is to resolve the instability problem of trajectory tracking of four-wheel independently driven vehicles under high-speed conditions, an integrated control method of active front steering (AFS) and direct yaw moment (DYC) is designed. AFS controller to assure that the vehicle tracks the desired trajectory as far as possible. and DYC controller to assure vehicle stability during trajectory tracking. In the upper controller, the AFS controller is designed found on the model predictive control (MPC) theory, and the direct yaw moment control (DYC) based on the sliding mode control (SMC) theory. In the lower controller, the additional yaw moment is converted to the torque of four wheels considering the dynamic vertical load distribution of the vehicle. The simulation results demonstrate that the second-order sliding mode control (SOSMC) can effectively reduce the chattering problem caused by the traditional first-order sliding mode control (FOSMC), and the integrated control method improves the accuracy and stability of intelligent vehicle trajectory tracking.