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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.”
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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Metadata
- 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
- 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
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
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