Lyapunov-based control system design for trajectory tracking in electrical autonomous vehicles with in-wheel motors

DOI10.1016/J.JFRANKLIN.2024.106736MaRDI QIDQ6495066zbMATH OpenFDO

Authors Hamid Rahmanei, Abbas Aliabadi, A. Ghaffari, Shahram Azadi

Publication date 30 April 2024

Published in Journal of the Franklin Institute (Search for Journal in Brave)

zbMATH Keywords

sliding mode controlforce distributionautonomous vehiclesLyapunov-based controlpacejka tire model

Mathematics Subject Classification ID

Hierarchical systems (93A13) Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Dynamic coordinated control for over-actuated autonomous electric vehicles with nonholonomic constraints via nonsingular terminal sliding mode technique
• Robust lateral motion control of four-wheel independently actuated electric vehicles with tire force saturation consideration
• Combined longitudinal and lateral dynamics regulation of autonomous vehicles via induced \(\mathcal{L}_2\)-gain linear parameter varying control strategies based on parameter-dependent Lyapunov functions
• Path tracking using linear time-varying model predictive control for autonomous vehicle
• Observer-based path following control for autonomous vehicles with localization errors and tire slip effects

Cites work

• A BP-PID controller-based multi-model control system for lateral stability of distributed drive electric vehicle
• Decentralized integration of constrained active steering and torque vectoring systems to energy-efficient stability control of electric vehicles
• Hierarchical estimation of vehicle state and tire forces for distributed in-wheel motor drive electric vehicle without previously established tire model
• Integrated tire slip energy dissipation and lateral stability control of distributed drive electric vehicle with mechanical elastic wheel
• Robust fault-tolerant control for four-wheel individually actuated electric vehicle considering driver steering characteristics
• Second-order sliding mode control for nonlinear fractional-order systems

Cited in

(1)

• An <scp>LMIs</scp>‐based back‐stepping sliding mode control framework for robust velocity tracking of the automatic driving vehicle on sloped roads

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