The robust controller for the four-wheel independent steering system of the electric vehicle

Author

Zhang, Yachen ; Zhu, Xiaochun ; Liang, Songfeng

Author_Institution

Automotive & Transp. Eng., Shenzhen Polytech., Shenzhen, China

fYear

2011

fDate

24-26 June 2011

Firstpage

2740

Lastpage

2743

Abstract

An optimized linear plus parabolic velocity profile is proposed for the four-wheel independent steering system of the electric vehicle. To eliminate the trajectory tracking error, a robust controller is designed for the system which undergoes uncertain nonlinear disturbances and whose model parameters are unknown. The experimental results satisfies the control tracking accuracy for different mounting request, which approved the effectiveness of the designed robust controller.

Keywords

control system synthesis; electric vehicles; road vehicles; robust control; steering systems; control tracking; electric vehicle; four-wheel independent steering system; linear plus parabolic velocity profile; robust controller; trajectory tracking error; uncertain nonlinear disturbances; Automotive engineering; Electric vehicles; Manipulators; Robustness; Steering systems; Trajectory; four-wheel independent steering system; lyapunov; optimized trajectory; robust; tracking accuracy;

fLanguage

English

Publisher

ieee

Conference_Titel

Remote Sensing, Environment and Transportation Engineering (RSETE), 2011 International Conference on

Conference_Location

Nanjing

Print_ISBN

978-1-4244-9172-8

Type

conf

DOI

10.1109/RSETE.2011.5964882

Filename

5964882