Quantized Output Feedback Control of AFS for Electric Vehicles With Transmission Delay and Data Dropouts

• Published in: IEEE transactions on intelligent transportation systems Vol. 23; no. 9; pp. 16026 - 16037
• Main Authors: Chang, Xiao-Heng, Liu, Yi
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: active front wheel steering; Asymptotic stability; Control systems design; Cornering; data dropouts; Delay; Delays; Dropouts; Electric vehicles; Feedback control; Gain scheduling; Lateral stability; Linear matrix inequalities; Mathematical analysis; Measurement; Output feedback; quantization; Quantization (signal); Robust control; Robustness; Steering; Stiffness; transmission delay; Uncertainty; Vehicle dynamics
• ISSN: 1524-9050; 1558-0016
• DOI: 10.1109/TITS.2022.3147481

This article proposes a robust <inline-formula> <tex-math notation="LaTeX">\mathcal {H}_\infty </tex-math></inline-formula> output feedback control strategy to improve vehicle lateral stability through active front wheel steering with quantization error, transmission delay and data dropouts. Since vehicle lateral dynamics presents inherently uncertain challenges, the polytopic technique is used and the variation of tire cornering stiffness is compensated via norm-bounded uncertainty. Meanwhile, considering that the measurement outputs are inevitably suffer from network-induced constrains, i.e. the quantization error, transmission delay and data dropouts, which degrade the stability and handling performance of vehicle, a robust gain-scheduling <inline-formula> <tex-math notation="LaTeX">\mathcal {H}_\infty </tex-math></inline-formula> output feedback controller design strategy is proposed and the stability conditions are presented in the form of linear matrix inequalities that are derived from Lyapunov asymptotic stability and quadratic <inline-formula> <tex-math notation="LaTeX">\mathcal {H}_\infty </tex-math></inline-formula> performance. Finally, two simulation cases are carried out with MATLAB/Simulink-Carsim to validate the effectiveness of the proposed method.