Yaw stability control for a rear double-driven electric vehicle using LPV-H∞ methods  

作　　者：Yonathan WEISS Liron I.ALLERHAND Shai AROGETI 

机构地区：[1]Department of Mechanical Engineering,Ben-Gurion University of the Negev,Beer-Sheva 8410501,Israel [2]BioCatch,Tel-Aviv 6744332,Israel

出　　处：《Science China(Information Sciences)》2018年第7期77-89,共13页中国科学（信息科学）（英文版）

摘　　要：This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A linear parameter varying（LPV） model of the vehicle is formulated using longitudinal speed measurement and tire cornering stiffness estimation. The LPV model is then utilized to design a gain-scheduled H∞controller with guaranteed stability. Results from simulations, performed with Car Sim, show that the new controller improves the vehicle performance and handling even in extreme maneuvers and that it is robust to model parameter uncertainties.This paper presents a new yaw stability controller for a rear double-driven electric vehicle. A linear parameter varying（LPV） model of the vehicle is formulated using longitudinal speed measurement and tire cornering stiffness estimation. The LPV model is then utilized to design a gain-scheduled H∞controller with guaranteed stability. Results from simulations, performed with Car Sim, show that the new controller improves the vehicle performance and handling even in extreme maneuvers and that it is robust to model parameter uncertainties.

关 键 词：yaw stability control electric vehicle torque vectoring H∞ control GAIN-SCHEDULING 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U469.72[自动化与计算机技术—控制科学与工程]