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 / gain scheduling / linear matrix inequality (LMI)

References

[1] Chan C C, Chau K T. Modern Electric Vehicle Technology. New York: Oxford University Press, 2001.

[2] Becker T A. Electric vehicles in the United States: A new model with forecasts to 2030. Technical Brief, Center for Entrepreneurship & Technology (CET) at the University of California, Berkeley, 2009

[3] Williams D E, Haddad W M. Nonlinear control of roll moment distribution to influence vehicle yaw characteristics. IEEE Transactions on Control Systems Technology, 1995, 3(1): 110-116

[4] Abe M, Kano Y, Shibahata Y, Furukawa Y. Improvement of vehicle handling safety with vehicle side-slip control by direct yaw moment. Vehicle System Dynamics, 2000, 33: 665-679

[5] Ono E, Doi S, Hosoe S. Vehicle running stability analysis and spin control. International Journal of Automotive Engineering, 1996, 27(3): 152-157 (in Japanese)

[6] Johansen T A, Petersen I, Kalkkuhl J, Ludemann J. Gain-scheduled wheel slip control in automotive brake systems. IEEE Transactions on Control Systems Technology, 2003, 11(6): 799-811

[7] Kwakernaak H. Robust control and ℋ∞. Automatica, 1993, 29(2): 255-273

[8] Rajamani R. Vehicle Dynamics and Control (Mechanical Engineering). New York: Springer, 2010

[9] Dorf R C, Bishop R H. Modern Control Systems. 9th ed. New Jersey: Prentice-Hall, 2001

[10] Iwasaki T, Skelton R E, Grigoriadis K M. A Unified Algebraic Approach to Linear Control Design. London: Taylor & Francis, 1998

[11] Boyd S, El Ghaoui L, Feron E, Balakrishnan V. Linear Matrix Inequalities in System and Control Theory. Philadelphia: SIAM, 1994

[12] Gahinet P, Nemirovski A, Laub A J, Chilali M. LMI Control Toolbox for Use with Matlab. The MathWorks Inc., 1995

Acknowledgements

This research has been supported in part by the Japan Ministry of Education, Sciences and Culture under Grant-in-Aid for Scientific Research (C) 21560471.

RIGHTS & PERMISSIONS

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg