H∞Control of Four-Wheel-Independent-Drive Electric Vehicles with Random Time-Varying Delays

Abstract

The random time-varying delays would reduce control performance and even deteriorate the EV system. To deal with random time-varying delays and achieve a real-time steady-state response, considering randomness of delay and a rapid response, anH∞-based delay-tolerant linear quadratic regulator (LQR) control method based on Taylor series expansion is proposed in this paper. The results of cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller through the control performance of yaw rate, sideslip angle, and the running track. Moreover, the results of comparison with the other controller illustrate the strength of explicitly.

Direct Yaw‐Moment Control of All‐Wheel‐Independent‐Drive Electric Vehicles with Network‐Induced Delays through Parameter‐Dependent Fuzzy SMC Approach

“…According to these research results in [2,7,9,10], the network-induced delays caused by CAN could reduce the control performance of DYC and even deteriorate the EV system. Some researchers proposed ∞ -based linear quadratic regulator (LQR) control method against CAN network delays as in [2,7,10]. However, research on SMCbased DYC of AWID-EVs is rare.…”

“…Equipped by advanced electric motors with more accurate and quicker torque generations than internal combustion engine (ICE) and hydraulic braking systems, AWID-EVs have obvious advantages in terms of direct yaw-moment control (DYC) through flexible differential driving/braking functions over traditional centralized drive vehicles [1,[3][4][5][6]. Plenty of existing studies have focused on the more flexible DYC and its integration control with active steering for AWID-EVs [2,[7][8][9][10][11][12][13]. However, considering the presence of model uncertainties, system parameter variations and external disturbances such as road rough or wind gust, it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC.…”

“…However, in a modern AWID-EV, the control signals from controllers and the measurements from sensors are usually exchanged through an in-vehicle communication network, for example, controller area network (CAN) or FlexRay [2]. In other words, a modern AWID-EV is a networked control system (NCS) rather than a conventional centralized control system [2,7,9,10]. Thus, the network-induced delays cannot be ignored.…”

Vehicle direct yaw moment control system based on the improved linear quadratic regulator

“…In particular, vehicle direct yaw moment (DYC) control technology (Yue and Fan, 2018; Jin et al , 2017a, 2017b, 2017c; Guo et al , 2018a, 2018b; Zhai et al , 2018) is widely used. The emphases of the control system technology research are as follows: tracking the ideal yaw rate for vehicles to ensure good handling stability for the vehicle (Mashadi and Gowdini, 2015; Yang et al , 2009; Qin and Zou, 2015; Goodarzi and Alirezaie, 2009); and inhibiting increases in the vehicle side-slip angle and reduces the error between the actual driving track and the ideal track as much as possible (Ding et al , 2010; Gao et al , 2015; Wang et al , 2008). …”

Improving Handling Stability Performance of Four-Wheel Steering Vehicle Based on the H2/H∞ Robust Control

“…The coalition simulation results indicated that the designed H∞ controller can improve the vehicle handing stability performance. Qin Gang et al [20] studied the H∞ control of four-wheel-independent-drive electric vehicles to deal with random time varying delays and achieved a real-time steady-state response. The results demonstrated the effectiveness of the H∞ controller by analyzing the control performance of the yaw rate and sideslip angle.…”