Multi-Objective Comprehensive Control of Trajectory Tracking for Four-In-Wheel-Motor Drive Electric Vehicle with Differential Steering
Publication Name
IEEE Access
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.
Open Access Status
This publication may be available as open access
Volume
9
Article Number
9408594
First Page
62137
Last Page
62154