Robust lateral control of autonomous four-wheel independent drive electric vehicles considering the roll effects and actuator faults

Jinghua Guo; Jingyao Wang; Yugong Luo; Keqiang Li

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Robust lateral control of autonomous four-wheel independent drive electric vehicles considering the roll effects and actuator faults

机译：考虑卷效应和执行器故障，自动四轮独立驱动电动汽车的强大横向控制

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摘要

This paper proposes a robust lateral control system with fuzzy state observer based on Takagi-Sugeno fuzzy model of autonomous four-wheel independent drive electric vehicles (A-4WDEVs) considering the roll effects and actuator faults. Firstly, a Takagi-Sugeno fuzzy model of A-4WDEVs with uncertainties, time-varying parameters and actuator faults is presented, which can describes the coupling lateral and roll dynamic features of A-4WDEVs. Then, a robust H_∞ state feedback lateral control system of A-4WDEVs is proposed to deal with the characteristics of uncertainties and external disturbance and produce the desired front wheel steering angle and external yaw moment of A-4WDEVs. Next, the control allocation law of additional longitudinal tire forces of A-4WDEVs is reviewed as a quadratic programming problem to achieve the desired external yaw moment. Furthermore, a Takagi-Sugeno fuzzy observer is designed to estimate the roll angle and roll angle rate of A-4WDEVS in real time. Finally, simulation and experimental results are provided to demonstrate the effectiveness of the proposed control scheme.

机译：本文提出了一种基于自动四轮独立驱动电动车（A-4WDEVS）的Takagi-Sugeno模糊模型的模糊状态观测器的强大横向控制系统，考虑到滚动效应和执行器故障。首先，提出了具有不确定性，时变参数和执行器故障的A-4Wdevs的Takagi-Sugeno模糊模型，可以描述A-4WDEV的耦合横向和滚动动态特征。然后，提出了一种稳健的H_∞状态反馈横向控制系统的A-4WDEVS，以处理不确定性和外部干扰的特性，并产生所需的前轮转向角和A-4WDEV的外部横摆力矩。接下来，审查A-4WDEV的附加纵向轮胎力的控制分配规律作为二次编程问题，以实现所需的外部横摆力矩。此外，Takagi-Sugeno模糊观察器设计用于实时估计A-4WDEV的滚动角度和滚动角度。最后，提供了模拟和实验结果来证明所提出的控制方案的有效性。

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来源
《Mechanical systems and signal processing》 |2020年第9期|106773.1-106773.17|共17页
作者
Jinghua Guo; Jingyao Wang; Yugong Luo; Keqiang Li;
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作者单位

School of Aerospace Engineering Xiamen University China State Key Laboratory of Automotive Safety and Energy Tsinghua University China Shenzhen Research Institute of Xiamen University China;

School of Aerospace Engineering Xiamen University China Shenzhen Research Institute of Xiamen University China;

State Key Laboratory of Automotive Safety and Energy Tsinghua University China;

State Key Laboratory of Automotive Safety and Energy Tsinghua University China;

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正文语种 eng
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关键词
Autonomous electric vehicles; Lateral control; Takagi-Sugeno fuzzy model; Roll effects; Actuator faults;

机译：自主电动车;侧向控制;Takagi-sugeno模糊模型;滚动效果;执行器故障;

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专利

1. Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration [J] . Wang Rongrong, Zhang Hui, Wang Junmin, Journal of the Franklin Institute . 2015,第2期

机译：考虑轮胎力饱和的四轮独立驱动电动汽车的鲁棒横向运动控制
2. Robust Adaptive Fault-Tolerant Control of Four-Wheel Independently Actuated Electric Vehicles [J] . Guo Bin, Chen Yong IEEE transactions on industrial informatics . 2020,第5期

机译：四轮独立致动电动车辆的鲁棒自适应容错控制
3. Lateral Stability Control of Four-Wheel Independent Drive Electric Vehicles Based on Model Predictive Control [J] . Huang Bin, Wu Sen, Huang Song, Mathematical Problems in Engineering . 2018,第PTa2期

机译：基于模型预测控制的四轮独立驱动电动汽车的横向稳定性控制
4. Robust lateral-plane motion control of four-wheel independently actuated electric vehicles [C] . Rongrong Wang, Hui Jing, Nan Chen, World Congress on Intelligent Control and Automation . 2014

机译：四轮独立致动电动汽车的鲁棒侧向运动控制
5. Dynamic Modeling for the Path Tracking Control of a Four-Wheel Independent-Drive, Four-Wheel Independent-Steer Autonomous Ground Vehicle [D] . Klindworth, Karl Emerson. 2017

机译：四轮独立驱动路径跟踪控制的动态建模，四轮独立转向自主地车辆
6. Estimation of Longitudinal Force and Sideslip Angle for Intelligent Four-Wheel Independent Drive Electric Vehicles by Observer Iteration and Information Fusion [O] . Te Chen, Long Chen, Xing Xu, 2018

机译：基于观测器迭代和信息融合的智能四轮独立驱动电动汽车纵向力和侧滑角估计
7. Robust Performance Improvement of Lateral Motion in Four-Wheel Independent-Drive Electric Vehicles [O] . Mehdi Ghaedi, Farhad Bayat, Afef Fekih, 2020

机译：四轮独立驱动电动汽车侧向运动的鲁棒性能提高

Robust lateral control of autonomous four-wheel independent drive electric vehicles considering the roll effects and actuator faults

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