Four wheel independent steering system control of distributed electric vehicle based on heterogeneous multi-agent
by Niao-Na Zhang; Hao-Lin Li; Shao-Song Li; Yang Liu
International Journal of Vehicle Design (IJVD), Vol. 87, No. 1/2/3/4, 2021

Abstract: In order to improve the active safety and yaw stability of the distributed drive electric vehicle, this paper proposes a four-wheel independent steering finite time control method based on the theory of heterogeneous multi-agent. Firstly, considering the system uncertainty and external interference, the topology is established based on the communication and hardware connection of each steering system. Then considering the uncertain time-varying delay of the system control network and the real-time calculation burden of the wheel redundancy system, a finite time robust control method of the wheel steering system is proposed on the basis of the event-triggering of heterogeneous multi-agent, which can avoid the calculation process of matrix inversion in the integrated control of the whole vehicle steering system. Finally, through the simulation experiments on step input, continuous sine and double shift line, it is verified that the method proposed in this paper can stably follow the ideal value and can improve the vehicle yaw stability.

Online publication date: Thu, 05-May-2022

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