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This paper deals with the negative effects of the in-vehicle network on the integrated anti-slip control (ASC) and direct yaw-moment control (DYC) of all-wheel-independent-drive electric vehicles (AWID-EVs). In the integrated control design of the modern AWID-EVs, increasing control components, e.g., sensors, controllers, and actuators, are usually connected via an in-vehicle network, such as a controller area network (CAN), rather than the traditional point-to-point communication. However, the application of CAN would also bring about unexpected problems, e.g., signal asynchrony, multiple-package transmission, and signal delay, which may degrade the control performance and even destroy the stability of the system. This paper presents a co-design methodology to deal with all these challenges caused by CAN and guarantees a satisfactory vehicle dynamics performance. First, a hierarchical structure is designed for the integrated ASC and DYC control of AWID-EVs over CAN, and an active torque distribution strategy based on a well-known maximum transmissible torque estimation approach is adopted. Then, a scheduling-based communication idea is introduced to deal with all these problems caused by CAN. Third, a Lyapunov-based pole assignment theory is applied to estimate the parameter values in the scheduling design and to guarantee the satisfactory dynamic performance of the control system. A generalized linear quadratic regulator controller is designed for the system synthesis to ensure the tracking control of the vehicle. Finally, simulations and preliminary hardware-in-loop tests indicate that the proposed co-design methodology can deal with the negative effects of the in-vehicle network and ensure reliable vehicle dynamics performance.INDEX TERMS All-wheel-independent-drive electric vehicle (AWID-EV), anti-slip control (ASC), direct yaw-moment control (DYC), co-design of scheduling and control, controller area network (CAN).

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Kinetics of acetone iodide synthesis was investigated in a microchannel reaction system mainly composed of a micromixer and a tubular reactor. This system can be used as a plug flow reactor, as proved by the low variance (0.006) of residence time distribution detected by a step stimuli–response tracer. An online ultraviolet monitoring system was built to fast and reliably detect the transmittance of the flowing solution. Reaction kinetics was tested at different reactant concentrations and temperatures (35‐50 °C). Second‐order kinetics concerning acetone and HCl was identified with activation energy of 67.86 kJ/mol.

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