Combined AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles over CAN Network with Time-Varying Delays

• Published in: IEEE transactions on vehicular technology Vol. 63; no. 2; pp. 591 - 602
• Main Authors: Shuai, Zhibin, Zhang, Hui, Wang, Junmin, Li, Jianqiu, Ouyang, Minggao
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.02.2014; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active front-wheel steering (AFS); Applied sciences; Control systems; Delay; Delays; direct yaw-moment control (DYC); Electric vehicles; Electrical engineering. Electrical power engineering; Electrical machines; Exact sciences and technology; Feedback; four-wheel-independent-drive electric vehicle (4WID-EV); Ground, air and sea transportation, marine construction; H_{\infty} -based linear quadratic regulator (LQR); Linear quadratic regulator; Mathematical models; Networks; Regulation and control; Road transportation and traffic; Taylor series; Testing. Reliability. Quality control; time-varying network delays; Time-varying systems; Uncertainty; Vehicle dynamics; Vehicles; Wheels; Performance evaluation; Polytope; Feedback regulation; Active front-wheel steering (AFS); H; Electric vehicle; Time variation; Degradation; LQ control; Feedback; Series expansion; Control method; Delay time; On board equipment; H infinite optimization; time-varying network delays; Control system; Taylor series; based linear quadratic regulator (LQR); Controller area networks; Steady state; direct yaw-moment control (DYC); Four wheel drive; Discrete time; Motion control; Gain; four-wheel-independent-drive electric vehicle (4WID-EV)
• ISSN: 0018-9545; 1939-9359
• DOI: 10.1109/TVT.2013.2279843

This paper deals with the lateral motion control of four-wheel-independent-drive electric vehicles (4WID-EVs) subject to onboard network-induced time delays. It is well known that the in-vehicle network and x-by-wire technologies have considerable advantages over the traditional point-to-point communication. However, on the other hand, these technologies would also induce the probability of time-varying delays, which would degrade control performance or even deteriorate the system. To enjoy the advantages and deal with in-vehicle network delays, an H ∞ -based delay-tolerant linear quadratic regulator (LQR) control method is proposed in this paper. The problem is described in the form of an augmented discrete-time model with uncertain elements determined by the delays. Delay uncertainties are expressed in the form of a polytope using Taylor series expansion. To achieve a good steady-state response, a generalized proportional-integral control approach is adopted. The feedback gains can be obtained by solving a sequence of linear matrix inequalities (LMIs). Cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller. Comparison with a conventional LQR controller is also carried out to illustrate the strength of explicitly dealing with in-vehicle network delays.