Cited by 97Vehicle Dynamics and Control SystemsStability and Control of Uncertain SystemsControl and Dynamics of Mobile Robots

Robust Lateral Motion Control of Electric Ground Vehicles With Random Network-Induced Delays

Zhu, Xiaoyuan, Zhang, Hui, Wang, Junmin, Fang, Zongde·2015·IEEE Transactions on Vehicular Technology

Abstract

This paper presents a lateral motion control strategy for four-wheel independently actuated (FWIA) electric ground vehicles that use the controller area network as a communication medium. The proposed controller design aims to guarantee vehicle stability while tracking the desired yaw rate, in spite of random network-induced delays that exist in both the feedback and forward channels. By modeling the random network-induced delays in both channels as two homogenous Markov chains, statistic information of these delays is incorporated in the mode-dependent tracking controller design. The control law consists of state feedback control and integral control. To fully compensate for the network-induced delays, a delay-free stochastic closed-loop system is first obtained in a discrete-time framework by using a system augmentation technique. Then, a robust linear quadratic regulator-based $\boldsymbol{H}_{\infty}$ controller is developed to achieve the tradeoff between the tracking error and the control input while also attenuating the effect of external disturbance. Considering the physical limitation of in-wheel motors, the eigenvalue positions of the state matrix are constrained in a predefined area to further balance the control inputs and transient responses by using pole placement. Finally, an iterative linear matrix inequality algorithm is adopted to obtain the delay-dependent feedback control gains. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the proposed lateral motion control approach.

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Crossref · 10.1109/tvt.2014.2383402

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Authors
Zhu, X., Zhang, H., Wang, J., & Fang, Z.
Affiliations
  • Northwestern Polytechnical University (CN)
  • The Ohio State University (US)
Venue
IEEE Transactions on Vehicular Technology
Published
2015-11
Volume
64
Issue
11
Pages
4985-4995
ISSN
  • 0018-9545 (ISSN-L)
  • 1939-9359
OpenAlex
W2052066290
Cited by
97
References
43
Citations by year
2026: 4 · 2025: 8 · 2024: 6 · 2023: 7 · 2022: 14 · 2021: 13 · 2020: 11 · 2019: 9 · 2018: 13 · 2017: 7 · 2016: 3 · 2015: 2
FWCI
4.91
Type
journal article
Language
en
Open access
closed
Locations
IEEE Transactions on Vehicular Technology (publishedVersion)
Funders
  • China Scholarship Council
  • National Science Foundation of China (61403252)
  • Program for Professor of Special Appointment (Eastern Scholar) at Shanghai Institutions of Higher Learning (TP2014053)
  • Innovation Program of Shanghai Municipal Education Commission (15ZZ077)
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 › Control and Dynamics of Mobile Robots
Keywords
lateral control, network-induced delay, random delay, CAN bus, Markov chains, H-infinity control, linear quadratic regulator, integral action, state feedback control, system augmentation, pole placement, in-wheel motor, yaw rate tracking, robust control, full vehicle model

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