Abstract
A smooth control method may do not obtain a desired convergence. On the other hand, a no-continuous method may cause a close-loop system to chatter. In order to avoid the aforementioned disadvantages, a non-smooth finite-time control method is proposed and applied on an active four-wheel-steering electric vehicle driven by four in-wheel motors to improve the safety and manoeuvrability in this paper. Based on an ideal electric vehicle steering tracking model, a non-smooth finite-time convergence controller is constructed for controlling the four wheels’ steering angles of an electric vehicle. The front wheel cornering stiffness, rear wheel cornering stiffness and external disturbance of a practical car are regarded as bounded uncertain parameters according to practical conditions. An A-class car model in the Carsim software is utilized to simulate the designed controller. The simulation results show that the controller based on finite-time convergence can track the ideal vehicle steering model better to obtain zero sideslip angle and expected yaw rate even when there exist perturbation of cornering stiffness and disturbance of lateral wind. It means the control system of the electric vehicle is robust with uncertainty. The simulation results also show that the non-smooth finite-time control method is better than the slide mode control method for the active four-wheel-steering system of the electric vehicle.
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Recommended by Associate Editor Sing Kiong Nguang under the direction of Editor Hamid Reza Karimi. This research were supported by Zhejiang Provincial Natural Science Foundation of China under Grant No. LY16E050003, National Natural Science Foundation of China under Grant 61773237, and China Postdoctoral Science Foundation Funded Project under grant 2017M610414.
Qinghua Meng was born in 1977. He received the Ph.D. degree from Zhejiang University, China, in 2005. Since 2005, he has been with the School of Mechanical Engineering, Hangzhou Dianzi Universit, where he is now an Associate Professor. His current research interests include electric vehicle stability control, and Mechanical fault diagnosis and signal processing.
Zong-Yao Sun was born in 1979. He received the Ph.D. degree from Shandong University, China, in 2009. Since 2009 he has been with the Institute of Automation, Qufu Normal University, where he is now an associate Professor. His current research interests include nonlinear control, adaptive control.
Yushan Li was born in 1970. He received the Ph.D. degree from Shandong University of Science and Technology, China, in 2011. He now works in the College of Transportation, Shandong University of Science and Technology, where he is now an associate Professor. His current research interests include vehicle control and vehicle driverless technology.
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Meng, Q., Sun, ZY. & Li, Y. Finite-time Controller Design for Four-wheel-steering of Electric Vehicle Driven by Four In-wheel Motors. Int. J. Control Autom. Syst. 16, 1814–1823 (2018). https://doi.org/10.1007/s12555-017-0509-0
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DOI: https://doi.org/10.1007/s12555-017-0509-0