Lateral Stabilization of a Four Wheel Independent Drive Electric Vehicle Using a Three Layer Controller and Sliding Mode Control
Subject Areas : electrical and computer engineeringH. Alipour 1 * , M. Sabahi 2 , M. B. B. Sharifia 3
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Keywords: Four-wheel drive electric vehicle lateral stability control sliding mode control yaw rate control,
Abstract :
In this paper, a new controller, for lateral stabilization of four wheel independent drive type electric vehicles without mechanical differential, is proposed. The proposed controller has three levels includes high, medium and low control level. Desired vehicle dynamics such as reference longitudinal speed and reference yaw rate are determined by higher level of controller. In this paper, a new sliding mode controller is proposed and its stability is proved by Lyapunov stability theorem. This sliding mode control structure is faster, more accurate, more robust, and with smaller chattering than common sliding mode controllers. Based on the proposed sliding mode controller, the medium control level is designed to determine the desired traction force and yaw moment. In the lower level controller, suitable wheel forces and torques are calculated by an optimal cost function minimizing. Finally, the effectiveness of the introduced controller is investigated through conducted simulations
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