Fractional-order adaptive dynamic programming for energy-efficient torque vectoring control of FWID-EVs with asymmetric constraints

• Published in: International Conference on Electric Vehicle and Vehicle Engineering (CEVVE 2023) Vol. 2023; pp. 125 - 130
• Main Authors: Li, R., Liu, T., Li, W., Wong, P. K., Zhao, J.
• Format: Conference Proceeding
• Language: English
• Published: The Institution of Engineering and Technology 2023
• DOI: 10.1049/icp.2023.3362

The collaborative control of lateral stability and energy efficiency is a significant challenge for four-wheel-independent- drive electric vehicles (FWID-EVs). This work investigates the torque vectoring control (TVC) to improve the lateral stability and energy efficiency of FWID-EVs subject to asymmetric constraints and external disturbances. First, the TVC issue is converted to a constrained nonlinear optimization and an improved adaptive dynamic programming (ADP) algorithm is proposed to optimize the torques of the four in-wheel motors. Second, a nonquadratic function is introduced in the cost function of the improved ADP, aiming to deal with the asymmetric constraints. Third, the negative effect of the external disturbances is reduced by utilizing a fractional-order operator. The hardware-in-the-loop tests are carried out to validate the effectiveness and practicability of the proposed method.