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

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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

DOI 10.1109/tvt.2013.2279843

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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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Authors: Shuai, Z., Zhang, H., Wang, J., Li, J., & Ouyang, M.
Affiliations: The Ohio State University (US)
Tsinghua University (CN)
ORCID: Shuai, Zhibin
Zhang, Hui
Wang, Junmin
Li, Jianqiu
Ouyang, Minggao
Venue: IEEE Transactions on Vehicular Technology
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Published: 2014-02
Volume: 63
Issue: 2
Pages: 591-602
ISSN: 0018-9545 (ISSN-L)
1939-9359
DOI: 10.1109/tvt.2013.2279843
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
FWCI: 33.74
Type: journal article
Language: en
Open access: closed
Licence: ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html (vor)
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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Combined AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles over CAN Network with Time-Varying Delays

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