Robust Lateral Motion Control of Electric Ground Vehicles With Random Network-Induced Delays
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.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
In IWMD-EV lateral motion control, time delays always exist due to sensor measurement, communication latencies, and computation time.
“Thus, a time delay always exists due to sensor measurement, communication latencies, and computation time.”
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 [8]
Cites
Rajamani, R. (2011) · Mechanical engineering series · doi:10.1007/978-1-4614-1433-9 · Cited by 4,503 · see citing works
A Survey of Recent Results in Networked Control Systems
Hespanha, J. P., Naghshtabrizi, P., & Xu, Y. (2007) · Proceedings of the IEEE · doi:10.1109/jproc.2006.887288 · Cited by 3,816 · see citing works
Dorf, R. C., & Sinha, N. K. (1981) · IEEE Transactions on Systems Man and Cybernetics · doi:10.1109/tsmc.1981.4308749 · Cited by 2,487 · see citing works
A cone complementarity linearization algorithm for static output-feedback and related problems
Ghaoui, L. E., Oustry, F., & Ait-Rami, M. (1997) · IEEE Transactions on Automatic Control · doi:10.1109/9.618250 · Cited by 2,029 · see citing works
(2006) · Mechanical Engineering Series · doi:10.1007/0-387-28823-6 · Cited by 1,129 · see citing works
A new method for stabilization of networked control systems with random delays
Zhang, L., Shi, Y., Chen, T., et al. (2005) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2005.852550 · Cited by 857 · see citing works
Shi, Y., & Yu, B. (2009) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2009.2020638 · Cited by 583 · see citing works
Development and Experimental Evaluation of a Slip Angle Estimator for Vehicle Stability Control
Piyabongkarn, D., Rajamani, R., Grogg, J. A., & Lew, J. Y. (2008) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2008.922503 · Cited by 354 · see citing works
Shuai, Z., Zhang, H., Wang, J., Li, J., & Ouyang, M. (2014) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2013.2279843 · Cited by 340 · see citing works
Self-citationShi, Y., & Yu, B. (2011) · Automatica · doi:10.1016/j.automatica.2011.01.022 · Cited by 314 · see citing works
Robust gain-scheduling energy-to-peak control of vehicle lateral dynamics stabilisation
Zhang, H., Zhang, X., & Wang, J. (2014) · Vehicle System Dynamics · doi:10.1080/00423114.2013.879190 · Cited by 306 · see citing works
Self-citationWang, R., Chen, Y., Feng, D., Huang, X., & Wang, J. (2010) · Journal of Power Sources · doi:10.1016/j.jpowsour.2010.11.160 · Cited by 300 · see citing works
Self-citation$H_{\bm \infty}$ Fuzzy Filtering of Nonlinear Systems With Intermittent Measurements
Gao, H., Zhao, Y., Lam, J., & Chen, K. (2009) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2008.924206 · Cited by 278 · see citing works
A New $H_{{\bm \infty}}$ Stabilization Criterion for Networked Control Systems
Jiang, X., Han, Q., Liu, S., et al. (2008) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2008.919547 · Cited by 276 · see citing works
Robust Static Output Feedback Control and Remote PID Design for Networked Motor Systems
Zhang, H., Shi, Y., & Mehr, A. S. (2011) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2011.2107720 · Cited by 261 · see citing works
Self-citationStudy on integrated control of active front steer angle and direct yaw moment
Nagai, M. (2002) · JSAE Review · doi:10.1016/s0389-4304(02)00189-3 · Cited by 259 · see citing works
Controller design with regional pole constraints
Haddad, W. M., & Bernstein, D. S. (1992) · IEEE Transactions on Automatic Control · doi:10.1109/9.109638 · Cited by 256 · see citing works
Wang, R., & Wang, J. (2011) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2011.2172822 · Cited by 232 · see citing works
Self-citationLin, H., & Antsaklis, P. J. (2005) · International Journal of Control · doi:10.1080/00207170500329182 · Cited by 227 · see citing works
Wang, R., Zhang, H., & Wang, J. (2013) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2013.2278237 · Cited by 226 · see citing works
Self-citationYang, X., Wang, Z., & Peng, W. (2008) · Vehicle System Dynamics · doi:10.1080/00423110701882264 · Cited by 224 · see citing works
Integrated vehicle dynamics control via coordination of active front steering and rear braking
Doumiati, M., Sename, O., Luc Dugard, A., et al. (2013) · European Journal of Control · doi:10.1016/j.ejcon.2013.03.004 · Cited by 224 · see citing works
Robust Tracking Control of Networked Control Systems: Application to a Networked DC Motor
Shi, Y., Huang, J. D., & Yu, B. (2012) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2012.2233692 · Cited by 182 · see citing works
Zhang, H., Shi, Y., & Liu, M. (2012) · IEEE Transactions on Industrial Informatics · doi:10.1109/tii.2012.2225434 · Cited by 181 · see citing works
Self-citationDu, H., Zhang, N., & Dong, G. (2010) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2010.2045520 · Cited by 167 · see citing works
Shuai, Z., Zhang, H., Wang, J., Li, J., & Ouyang, M. (2013) · Control Engineering Practice · doi:10.1016/j.conengprac.2013.11.012 · Cited by 164 · see citing works
Self-citationChen, Y., & Wang, J. (2014) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2013.2287560 · Cited by 154 · see citing works
Self-citationChen, Y., & Wang, J. (2013) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2013.2249591 · Cited by 138 · see citing works
Self-citationHuang, X., Zhang, H., Zhang, G., et al. (2014) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2014.2317772 · Cited by 137 · see citing works
Self-citationWang, R., & Wang, J. (2012) · Control Engineering Practice · doi:10.1016/j.conengprac.2012.09.009 · Cited by 124 · see citing works
Self-citationZhang, H., Shi, Y., & Wang, J. (2013) · International Journal of Control · doi:10.1080/00207179.2013.797107 · Cited by 105 · see citing works
Self-citationDing, N., & Taheri, S. (2010) · Vehicle System Dynamics · doi:10.1080/00423110903377360 · Cited by 104 · see citing works
Lyapunov based predictive control of vehicle drivetrains over CAN
Caruntu, C. F., Lazar, M., Gielen, R. H., van den Bosch, P. P. J., & Cairano, S. D. (2012) · Control Engineering Practice · doi:10.1016/j.conengprac.2012.05.012 · Cited by 95 · see citing works
Zhang, H., Wang, J., & Shi, Y. (2013) · Systems & Control Letters · doi:10.1016/j.sysconle.2013.09.006 · Cited by 92 · see citing works
Self-citationA Phase-Locked-Loop-Assisted Internal Model Adjustable-Speed Controller for BLDC Motors
Pan, C., & Fang, E. (2008) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2008.922600 · Cited by 85 · see citing works
Zhang, H., Shi, Y., & Mu, B. (2013) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.4024007 · Cited by 66 · see citing works
Self-citationNetSimplex: Controller Fault Tolerance Architecture in Networked Control Systems
Yao, J., Liu, X., Zhu, G., et al. (2012) · IEEE Transactions on Industrial Informatics · doi:10.1109/tii.2012.2219060 · Cited by 49 · see citing works
Horiuchi, S. (1999) · JSAE Review · doi:10.1016/s0389-4304(99)00051-x · Cited by 48 · see citing works
Weiskircher, T., & Müller, S. (2012) · Vehicle System Dynamics · doi:10.1080/00423114.2012.676649 · Cited by 31 · see citing works
Zhang, H., & Shi, Y. (2012) · Journal of Dynamic Systems Measurement and Control · doi:10.1115/1.4006070 · Cited by 27 · see citing works
Self-citationDoumiati, M., Sename, O., Martinez, J. J., et al. (2010) · Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes · doi:10.1109/cdc.2010.6171089 · Cited by 17 · see citing works
Effect of network induced delay on the stability of an autonomous mobile robot
Wargui, M., Hentabli, K., Tadjine, M., et al. (2002) · International Conference on Industrial Electronics, Control and Instrumentation (IECON) · doi:10.1109/iecon.1997.668458 · Cited by 5 · see citing works
H∞ fuzzy Networked control for vehicle lateral dynamics
Latrach, C., Kchaou, M., Hajjaji, A. E., et al. (2013) · 2006 14th Mediterranean Conference on Control and Automation · doi:10.1109/med.2013.6608926 · Cited by 5 · see citing works
Flagged first, then by citations
Cited by
Sorted by citations
Chiliveri, V. R., Kalpana, R., Subramaniam, U., Muhibbullah, M., & Padmavathi, L. (2024) · IET Intelligent Transport Systems · doi:10.1049/itr2.12474 · Cited by 15 · see citing works
Chiliveri, V. R., Kalpana, R., & Lakshmanan, P. (2022) · 2022 IEEE International Conference on Power Electronics, Smart Grid, and Renewable Energy (PESGRE) · doi:10.1109/pesgre52268.2022.9715804 · Cited by 3 · see citing works
- 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
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 ›
Are you an author, or do you see a problem with this page? Request a review