Cited by 340Vehicle Dynamics and Control SystemsStability and Control of Uncertain SystemsTraffic control and management

Combined AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles over CAN Network with Time-Varying Delays

Shuai, Zhibin, Zhang, Hui, Wang, Junmin, Li, Jianqiu, Ouyang, Minggao·2014·IEEE Transactions on Vehicular Technology

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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Crossref · 10.1109/tvt.2013.2279843

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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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