Robust H∞ Output Feedback Trajectory Tracking Control for Steer-by-Wire Four-Wheel Independent Actuated Electric Vehicles
Abstract
:1. Introduction
- A trajectory tracking control method with integrated AFS and DYC is proposed for the steer-by-wire FWIA EV, involving the dynamic of steer-by-wire, which is more closely related to the control actuation of the steer-by-wire FWIA EV in reality. Compared with the robust gain-scheduling control (RGSC) strategy not considering the dynamic of the steer-by-wire system, the proposed control strategy can guarantee higher tracking accuracy and better comfort.
- In the proposed integrated control framework, a polyhedral LPV model with eight vertices is established for all the states of the steer-by-wire FWIA EV by considering the time-varying longitudinal velocity and selecting , and as scheduling parameters.
- A robust dynamic output feedback controller without using the vehicle sideslip angle is designed by solving the linear matrix inequalities integrating robust stability, performance, and actuator constraint, which meets the stability and maneuverability, tracking accuracy, and driving safety requirements in the trajectory tracking process.
2. System Modeling and Problem Statement
2.1. System Modeling Considering Dynamic Characteristics of Steer-by-Wire
2.2. Polytopic Model Establishment for System Uncertainty
2.3. Control Problem Formulation
3. Robust Output Feedback Trajectory Tracking Control
4. Simulation Validation
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Symbol | Definition | Value |
---|---|---|
m | Vehicle mass | 1830 kg |
Vehicle yaw moment of inertia | 3234 kg m | |
Moment of inertia in steering system | 10.0035 kg m | |
Viscous damping | 350.1 Nm s/rad | |
Motor constant | 0.078 Nm/A | |
Aerodynamic trajectory | 0.036 m | |
Mechanical trajectory | 0.024 m | |
Motor efficiency | 0.7 | |
Steering ratio | 30 | |
Distance of CG from front axle | 1.4 m | |
Distance of CG from rear axle | 1.65 m | |
Cornering stiffness of front tires | −134.843 kN/rad | |
Cornering stiffness of rear tires | −124.337 kN/rad | |
Vehicle tread | 1.5 m | |
R | Tire radius | 0.3 m |
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Share and Cite
Li, Z.; Jiao, X.; Zhang, T. Robust H∞ Output Feedback Trajectory Tracking Control for Steer-by-Wire Four-Wheel Independent Actuated Electric Vehicles. World Electr. Veh. J. 2023, 14, 147. https://doi.org/10.3390/wevj14060147
Li Z, Jiao X, Zhang T. Robust H∞ Output Feedback Trajectory Tracking Control for Steer-by-Wire Four-Wheel Independent Actuated Electric Vehicles. World Electric Vehicle Journal. 2023; 14(6):147. https://doi.org/10.3390/wevj14060147
Chicago/Turabian StyleLi, Zhiwen, Xiaohong Jiao, and Ting Zhang. 2023. "Robust H∞ Output Feedback Trajectory Tracking Control for Steer-by-Wire Four-Wheel Independent Actuated Electric Vehicles" World Electric Vehicle Journal 14, no. 6: 147. https://doi.org/10.3390/wevj14060147