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Multi-Objective Comprehensive Control of Trajectory Tracking for Four-In-Wheel-Motor Drive Electric Vehicle with Differential Steering

Journal Article


Abstract


  • For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of the four-in-wheel motor independent-drive vehicle (4MIDEV) is established comprehensively considering the differential steering dynamics characteristics, longitudinal dynamics characteristics, and lateral dynamics characteristics. Takagi Sugeno (T-S) fuzzy method is adopted to deal with the nonlinear and time-varying characteristics of the model parameters such as vehicle longitudinal speed and the front steering wheel angle. The trajectory tracking control targets are divided into the kinematic control target considering the trajectory tracking accuracy and the dynamics control target considering longitudinal speed tracking as well as lateral stability performance. The generalized H_{2 norm and H_{∞ norm are selected to constrain the kinematic control target and the dynamics control target respectively. The generalized H_{2}/H_{∞ trajectory tracking controller is designed to improve the trajectory tracking accuracy and longitudinal speed tracking as well as lateral stability performance. The hardware in the loop test (HIL) verified that the designed trajectory tracking multi-objective controller can improve the comprehensive performance of vehicle and balance the trajectory tracking accuracy between the longitudinal and lateral dynamics performance.

Publication Date


  • 2021

Citation


  • Wang, H., Hu, C., Cui, W., & Du, H. (2021). Multi-Objective Comprehensive Control of Trajectory Tracking for Four-In-Wheel-Motor Drive Electric Vehicle with Differential Steering. IEEE Access, 9, 62137-62154. doi:10.1109/ACCESS.2021.3074215

Scopus Eid


  • 2-s2.0-85104671863

Start Page


  • 62137

End Page


  • 62154

Volume


  • 9

Abstract


  • For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of the four-in-wheel motor independent-drive vehicle (4MIDEV) is established comprehensively considering the differential steering dynamics characteristics, longitudinal dynamics characteristics, and lateral dynamics characteristics. Takagi Sugeno (T-S) fuzzy method is adopted to deal with the nonlinear and time-varying characteristics of the model parameters such as vehicle longitudinal speed and the front steering wheel angle. The trajectory tracking control targets are divided into the kinematic control target considering the trajectory tracking accuracy and the dynamics control target considering longitudinal speed tracking as well as lateral stability performance. The generalized H_{2 norm and H_{∞ norm are selected to constrain the kinematic control target and the dynamics control target respectively. The generalized H_{2}/H_{∞ trajectory tracking controller is designed to improve the trajectory tracking accuracy and longitudinal speed tracking as well as lateral stability performance. The hardware in the loop test (HIL) verified that the designed trajectory tracking multi-objective controller can improve the comprehensive performance of vehicle and balance the trajectory tracking accuracy between the longitudinal and lateral dynamics performance.

Publication Date


  • 2021

Citation


  • Wang, H., Hu, C., Cui, W., & Du, H. (2021). Multi-Objective Comprehensive Control of Trajectory Tracking for Four-In-Wheel-Motor Drive Electric Vehicle with Differential Steering. IEEE Access, 9, 62137-62154. doi:10.1109/ACCESS.2021.3074215

Scopus Eid


  • 2-s2.0-85104671863

Start Page


  • 62137

End Page


  • 62154

Volume


  • 9