An adaptive SMC controller for EVs with four IWMs handling and stability enhancement based on a stability index

Li, Xiaoyu; Xu, Nan; Guo, Konghui; Huang, Yanjun

doi:10.1080/00423114.2020.1767795

Cited by 51 publications

(26 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In that sense, control models can capture main dynamic properties of both vehicle dynamics and path-following dynamics of the vehicle. Note that the path-following dynamics of the vehicle are described in three ordinary differential equations of control parameters; see equations (5)- (7) or equation (12) rewritten in a matrix form for these equations. Equation 12is now numerically studied under given parameters.…”

Section: Understanding Parameters Inmentioning

confidence: 99%

“…Due to outstanding maneuvering and acceleration performances, the 4WS4WD vehicles [1,2] have been received attentions from researchers and engineers in recent years. Major concerns are motion controls of these overactuated vehicles, e.g., lateral stability control [3][4][5][6][7] and autonomous path-following control [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. Vehicle lateral control systems can help the drivers to change the lanes safely or assist them in performing evasive maneuvers.…”

Section: Introductionmentioning

confidence: 99%

“…Vehicle lateral control systems can help the drivers to change the lanes safely or assist them in performing evasive maneuvers. Effective lateral control algorithms were developed in previous literatures [3][4][5][6][7]. Liang et al [3] proposed a comprehensive control method for 4WID4WIS vehicles, which integrated active steering (AS) and direct yaw moment control (DYC) systems.…”

Section: Introductionmentioning

confidence: 99%

“…Xiong et al [6] designed a vehicle dynamic control system for a four in-wheel motor drive electric vehicle with consideration of tire cornering stiffness estimation and the vehicle stability under critical driving conditions. Li et al [7] presented an adaptive SMC control scheme to improve handling and stability of electric vehicles equipped with four in-wheel motors.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

Zhang

Yang

Zhang

et al. 2021

Shock and Vibration

View full text Add to dashboard Cite

Further research on motion control of a 4WS4WD path-following vehicle is carried out in this paper. Focuses are placed on understanding and testing the vehicle path-following control models developed previously at a deep level. Control models are in relation to parameters introduced, and the effects of these parameters are discovered. Control models are interpreted by dynamic simulation using a 3DOF vehicle model with three cases. Three kinds of planned paths are considered in these cases to test control performances, which include the straight, circular, and sinusoidal paths. Interesting dynamic results are obtained and analyzed qualitatively, e.g., various steering modes. Simulation studies are extended with consideration of a fine vehicle dynamic model established in CarSim and a complex path composed of straight and curved segments. Control models are examined in a complex problem, and results obtained show that they are validated with robustness in dynamic environment.

show abstract

Section: Understanding Parameters Inmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

Zhang

Yang

Zhang

et al. 2021

Shock and Vibration

View full text Add to dashboard Cite

show abstract

“…Path tracking performance is extremely essential to handle vehicle stability, especially in a high-risk driving scenario. Various methods such as H∞ control [20,21] and slide mode control (SMC) [22,23] are usually applied in the path tracking control of 4IDEV. The model predictive control (MPC), due to its advantage to forecast the future status of the controlled system, is commonly used in the path tracking of intelligent vehicles.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Model Predictive Control for Autonomous Collision Avoidance of Distributed Electric Drive Vehicle with Lateral Stability Analysis in Extreme Scenarios

Wang

Lin

Liang

et al. 2021

WEVJ

View full text Add to dashboard Cite

This paper proposes an active collision avoidance controller based on a hierarchical model predictive control framework for distributed electric drive vehicles (4IDEV) considering extreme conditions. In this framework, a two-layer strategy is developed. The upper layer is the path replanning controller based on nonlinear MPC (nMPC), from which a collision-free path including the optimal lateral displacement and yaw angle can be obtained in real-time while encountering the obstacles. The lower layer is the path tracking controller based on hybrid MPC (hMPC), and the coordinated control inputs (yaw moment and the front wheel steering angle) are solved by a Mixed-Integer Quadratic Programming (MIQP) with the piecewise affine (PWA) tire model considering tire saturation region. Moreover, to improve the lateral stability when tracking, the stable zone of lateral stability in the high-risk condition is analyzed based on the phase portrait method, by which the constraints of vehicle states and inputs are derived. The verification is carried out on the MATLAB and CarSim co-simulation platform, and the simulation results show that the proposed active collision avoidance controller can track the reference path accurately and prevent vehicle instability in extreme scenarios.

show abstract

Integrated Dynamics Control for Path Tracking and Obstacle Avoidance of Four-Wheel Intelligent Distributed Drive Vehicles Based on Time-Varying Predictive Control

Wang

Lin

Lyu

et al. 2023

Lecture Notes in Electrical Engineering

View full text Add to dashboard Cite

An adaptive SMC controller for EVs with four IWMs handling and stability enhancement based on a stability index

Cited by 51 publications

References 41 publications

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

Hierarchical Model Predictive Control for Autonomous Collision Avoidance of Distributed Electric Drive Vehicle with Lateral Stability Analysis in Extreme Scenarios

Integrated Dynamics Control for Path Tracking and Obstacle Avoidance of Four-Wheel Intelligent Distributed Drive Vehicles Based on Time-Varying Predictive Control

Contact Info

Product

Resources

About