Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control

A path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultaneously. Firstly, a 2-DOF vehicle dynamic model and...

Full description

Saved in:
Bibliographic Details
Published inEnergies (Basel) Vol. 15; no. 15; p. 5728
Main Authors Wang, Chenning, He, Ren, Jing, Zhecheng, Chen, Shijun
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.08.2022
Subjects
4WID electrical vehicle
Accuracy
active front steering
Autonomous vehicles
backstepping
Control algorithms
Control theory
Controllers
Design
direct yaw control
Dynamic models
Dynamic stability
Kinematics
model predictive control
Sideslip
Steering
Trajectory planning
Yaw
Yawing moments
Online AccessGet full text

Cover

More Information
Summary:A path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultaneously. Firstly, a 2-DOF vehicle dynamic model and a path following error model are built and the desired yaw rate is obtained through backstepping. Then, a model predictive controller is adopted to track the desired yaw rate and obtain the optimal front wheel steering and external yaw moment. Meanwhile, an optimal torque distribution algorithm is carried out to allocate it to each tire. Finally, the effectiveness and superiority of the strategy is validated via CarSim–Simulink joint simulation. Results show that the strategy has higher following accuracy, smaller sideslip angle, and better yaw rate tracking.
ISSN:1996-1073
1996-1073
DOI:10.3390/en15155728