Longitudinal Velocity Tracking Control of a 4WID Electric Vehicle

被引：15

作者：

Hang, Peng ^{[1
]}

Chen, Xinbo ^{[2
]}

Zhang, Bang ^{[3
]}

Tang, Tingju ^{[1
]}

机构：

[1] Tongji Univ, Sch Automot Studies, Shanghai 201804, Peoples R China

[2] Tongji Univ, Clean Energy Automot Engn Ctr, Shanghai 201804, Peoples R China

[3] Tongji Univ, Sch Mech Engn, Shanghai 201804, Peoples R China

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 31期

基金：

中国国家自然科学基金;

关键词：

Longitudinal velocity tracking; sliding model control; RBF neural network; four-wheel independent drive; electric vehicle;

D O I：

10.1016/j.ifacol.2018.10.129

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel four-wheel independent drive (4WID) electric vehicle (EV) is proposed as an autonomous ground vehicle (AGV) in this paper. Since longitudinal motion control is the fundamental problem of autonomous vehicle control, a traditional sliding mode control (SMC) algorithm and an improved adaptive sliding mode control (ASMC) algorithm using Radial Basis Function (RBF) neural network are applied to longitudinal velocity tracking controller design. To evaluate the performance of the designed controllers for the 4WID EV, two simulation maneuvers are carried out including straight line condition and single lane-change condition. The simulation results indicate that the longitudinal velocity tracking controller using ASMC has smaller tracking error and better disturbance rejection performance than SMC. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：790 / 795

页数：6

共 50 条

[21] Additional Yaw Moment Control of a 4WIS and 4WID Agricultural Data Acquisition Vehicle
Jiang, Dawei
Li Danhua
Wang, Sanzhou
Tian, Lei
Yang, Liangcheng
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2015, 12
[22] Torque Allocation Strategy of 4WID In-wheel Motor Electric Vehicle Based on objective Optimization
Qin, Gang
Zou, Jianxiao
Xu, Hongbing
Xin, Xiaoshuai
Li, Kai
2014 AMERICAN CONTROL CONFERENCE (ACC), 2014, : 2600 - 2605
[23] Acceleration Slip Regulation control of 4WID electric vehicles based on fuzzy road identification
Zong, C.-F. (cfzong@yahoo.com.cn), 1600, South China University of Technology (40):
[24] Cooperative Strategy of Trajectory Tracking and Stability Control for 4WID Autonomous Vehicles Under Extreme Conditions
Zhang, Zhida
Zheng, Ling
Li, Yinong
Li, Shaohua
Liang, Yixiao
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2023, 72 (03) : 3105 - 3118
[25] Actuator Fault Detection and Diagnosis of 4WID/4WIS Electric Vehicles
Liu, Chao
Zong, Changfu
He, Lei
Li, Chunshan
Liu, Minghui
SAE INTERNATIONAL JOURNAL OF PASSENGER CARS-ELECTRONIC AND ELECTRICAL SYSTEMS, 2014, 7 (01): : 14 - 17
[26] Torque Fault-Tolerant Hierarchical Control of 4WID Electric Vehicles Based on Improved MPC and SMC
Huang, Xun
Zha, Yunfei
Lv, Xiaolong
Quan, Xiaoyu
IEEE ACCESS, 2023, 11 : 132718 - 132734
[27] Model predictive control system based on direct yaw moment control for 4WID self-steering agriculture vehicle
Liu, Hui
Yan, Shicheng
Shen, Yue
Li, Chiheng
Zhang, Yafei
Hussain, Fida
INTERNATIONAL JOURNAL OF AGRICULTURAL AND BIOLOGICAL ENGINEERING, 2021, 14 (02) : 175 - 181
[28] Integrated lateral control for 4WID/4WIS vehicle in high-speed condition considering the magnitude of steering
Liang, Yixiao
Li, Yinong
Yu, Yinghong
Zhen, Ling
VEHICLE SYSTEM DYNAMICS, 2020, 58 (11) : 1711 - 1735
[29] A Real-time and Parameterized Optimal Torque Distribution Strategy for 4WID Electric Vehicle without Road Adhesion Information
Ren, Yanjun
Yin, Guodong
Li, Guangmin
Xia, Tian
Liang, Jinhao
Meyer, Vincent
2019 3RD CONFERENCE ON VEHICLE CONTROL AND INTELLIGENCE (CVCI), 2019, : 326 - 331
[30] Path-following control of 4WIS/4WID autonomous vehicles considering vehicle stability based on phase plane
Sun, Yang
Wang, Chao
Wang, Haiyang
Tian, Bin
Ning, Haonan
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2024,

← 1 2 3 4 5 →