Predictor Based Stability Control of Four-Wheel Independent Drive Electric Vehicle with Bounded Input Delay
Abstract
The stability of a four-wheel independent drive electric vehicle (4WID-EV) is a significant concern to prevent accidents and maintain driver safety. In this paper, the proposed controller design guarantees the stability of 4WID-EV and tracks the desired reference trajectory despite bounded input delay. Using the finite spectrum assignment (FSA) technique, the predictor is designed to tackle input time delay and a hierarchical control structure. Hierarchical control structure assures that the vehicle tracks the desired reference path and optimally allocates the required longitudinal force to each wheel to generate yaw moment. The closed-loop stability of 4WID-EV has been proved theoretically by choosing the appropriate Lyapunov function. To validate the effectiveness of the proposed method, numerical simulation has been performed in Matlab/Simulink and the results demonstrate the better tracking performance.
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If time delays are left unattended, they degrade control performance or even drive the system to instability.
“Furthermore, if these delays are left unattended, it degrades the control performance or even drives the system to instability [9,10].”
From Novel reaching law based predictive sliding mode control for lateral motion control of in‐wheel motor drive electric vehicle with delay estimation (2024) · cites this paper as [10]
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Chiliveri, V. R., Kalpana, R., Subramaniam, U., Muhibbullah, M., & Padmavathi, L. (2024) · IET Intelligent Transport Systems · doi:10.1049/itr2.12474 · Cited by 15 · see citing works
Self-citation
- Authors
- Chiliveri, V. R., Kalpana, R., & Lakshmanan, P.
- Affiliations
- National Institute of Technology Karnataka (IN)
- Central Electronics Engineering Research Institute (IN)
- Venue
- 2022 IEEE International Conference on Power Electronics, Smart Grid, and Renewable Energy (PESGRE)
- Publisher
- IEEE
- Published
- 2022-01-02
- Pages
- 1-6
- OpenAlex
- W4214772979
- Cited by
- 3
- References
- 10
- Citations by year
- 2023: 2 · 2022: 1
- FWCI
- 0.77
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE International Conference on Power Electronics, Smart Grid, and Renewable Energy (PESGRE) (publishedVersion)
- Topics
- Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Physical Sciences › Engineering › Automotive Engineering › Electric and Hybrid Vehicle Technologies
- Keywords
- four-wheel independent drive electric vehicles, stability control, predictor-based control, finite spectrum assignment, hierarchical control, trajectory tracking, yaw moment control, Lyapunov stability
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