Title: Robust guaranteed cost state-delayed control of yaw stability for four-wheel-independent-drive electric vehicles with active front steering system

Authors: XianJian Jin; Guodong Yin; Jiansong Chen; Nan Chen

Addresses: School of Mechanical Engineering, Southeast University, Nanjing 211189, China ' School of Mechanical Engineering, Southeast University, Nanjing 211189, China; State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China ' School of Mechanical Engineering, Southeast University, Nanjing 211189, China ' School of Mechanical Engineering, Southeast University, Nanjing 211189, China

Abstract: A robust guaranteed cost state-delayed control design for four-wheel-independent-drive electric vehicles with active front steering system is presented in this paper. The main control objective is to deal with the time delay problem and improve yaw stability and handling performance of vehicle. To address the challenge of time delay problem, the time delay of steering system is assumed to be concentrated in vehicle state. In terms of the feasibility of a sequence of linear matrix inequalities (LMIs) derived from the selected Lyapunov-Krakovskii functional, the guaranteed cost memoryless state-delayed controller is designed, which ensures the corresponding closed-loop system is asymptotically stable with a guaranteed cost performance. Simulations for various operating manoeuvres are carried out using the platform of Matlab/Simulink-Carsim®. It is found from the simulation results that the proposed controller can effectively attenuate the delayed effect of steering system and preserve vehicle yaw stability.

Keywords: four-wheel-independent-drive electric vehicles; FWID-EVs; active steering; front steering; robust control; guaranteed cost control; state delay; yaw stability; time delay; linear matrix inequalities; LMIs; simulation; vehicle control; vehicle steering.

DOI: 10.1504/IJVD.2015.073131

International Journal of Vehicle Design, 2015 Vol.69 No.1/2/3/4, pp.304 - 323

Received: 27 Sep 2014
Accepted: 23 Jun 2015

Published online: 20 Nov 2015 *

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