Lateral Motion Stability Control via Sampled-data Output Feedback of a High Speed Electric Vehicle Driven by Four In-wheel Motors

[+] Author and Article Information
Qinghua Meng

School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang 310018, China

Chunjiang Qian

College of Engineering, University of Texas at San Antonio, San Antonio, TX 78249, USA

Pan Wang

School of Automation, Southeast University, Nanjing, JiangSu 210096, China

1Corresponding author.

ASME doi:10.1115/1.4037266 History: Received April 02, 2016; Revised May 30, 2017


The paper presents a lateral motion stability control method for an electric vehicle driven by four in-wheel motors subject to time-variable high speeds and uncertain disturbances caused by severe road conditions, siding wind forces and different tire pressures. In order to tackle the uncertain disturbances, an almost disturbance decoupling method (ADD) using sampled-data output feedback control which is more suitable for computer implementation is proposed based on the domination approach. The proposed controller can attenuate the disturbances' effect on the output to an arbitrary degree of accuracy. Simulation results under different speeds by MATLAB show the effectiveness of the control method.

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