Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Abstract

This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of {\mathscr{H}}_{\infty } control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.

Keywords

four-wheeled electric vehicles / neutral steer / sideslip reduction / servo system / {\mathscr{H}}_{\infty } control')">{\mathscr{H}}_{\infty } control / gain scheduling / linear matrix inequality (LMI)

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Higher Education Press and Springer-Verlag Berlin Heidelberg