Combined AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles over CAN Network with Time-Varying Delays
Abstract
This paper deals with the lateral motion control of four-wheel-independent-drive electric vehicles (4WID-EVs) subject to onboard network-induced time delays. It is well known that the in-vehicle network and x-by-wire technologies have considerable advantages over the traditional point-to-point communication. However, on the other hand, these technologies would also induce the probability of time-varying delays, which would degrade control performance or even deteriorate the system. To enjoy the advantages and deal with in-vehicle network delays, an H∞-based delay-tolerant linear quadratic regulator (LQR) control method is proposed in this paper. The problem is described in the form of an augmented discrete-time model with uncertain elements determined by the delays. Delay uncertainties are expressed in the form of a polytope using Taylor series expansion. To achieve a good steady-state response, a generalized proportional-integral control approach is adopted. The feedback gains can be obtained by solving a sequence of linear matrix inequalities (LMIs). Cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller. Comparison with a conventional LQR controller is also carried out to illustrate the strength of explicitly dealing with in-vehicle network delays.
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For all the aforementioned methods, time delays are assumed to be known and time-invariant.
“For all the aforementioned methods, time delays are assumed to be known and time-invariant.”
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 [13]
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Self-citation
- Authors
- Shuai, Z., Zhang, H., Wang, J., Li, J., & Ouyang, M.
- Affiliations
- The Ohio State University (US)
- Tsinghua University (CN)
- Venue
- IEEE Transactions on Vehicular Technology
- Published
- 2014-02
- Volume
- 63
- Issue
- 2
- Pages
- 591-602
- ISSN
- 0018-9545 (ISSN-L)
- 1939-9359
- OpenAlex
- W1974945677
- Cited by
- 340
- References
- 43
- Citations by year
- 2026: 10 · 2025: 15 · 2024: 20 · 2023: 26 · 2022: 34 · 2021: 32 · 2020: 44 · 2019: 33 · 2018: 31 · 2017: 30 · 2016: 15 · 2015: 20 · 2014: 20 · 2013: 10
- FWCI
- 33.74
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Vehicular Technology (publishedVersion)
- Topics
- Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Traffic control and management
- Keywords
- four-wheel independent drive electric vehicles, active front steering, time-varying delays, network-induced delay, H-infinity control, linear quadratic regulator, Taylor series expansion, lateral control, linear matrix inequalities, co-simulation
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