Title :
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
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;
Conference_Titel :
Remote Sensing, Environment and Transportation Engineering (RSETE), 2011 International Conference on
Conference_Location :
Nanjing
Print_ISBN :
978-1-4244-9172-8
DOI :
10.1109/RSETE.2011.5964882
