Robust control in 4×4 hybrid-converted touring vehicles during urban speed steering maneuvers

The present work is focused on the synthesis and the analysis of robust control techniques for rear electric traction control in 4×4 hybrid-converted CVs (Conventional Vehicles) at urban speed limits (lower than 60 Km/h). This set represents a practicable alternative for the automotive industry, improving vehicular performance and reducing considerably fossil fuel air pollution. Our goal is to design an electromechanical controlled system that can replace the conventional rear wheels in touring cars with a pair of electric wheels with a minimal level of adaptation, preserving the original combustion engine. We consider the synthesis of an H_∞ robust controller and also the neurofuzzy approach. An optimized PID controller was also designed for the final analysis and evaluation. Based on Ackerman Geometry and the reading of the steering front angles, it was possible to estimate the maneuver radius from turning center. Thus, all three proposed control approaches must adjust the rear wheel´s individual angular speeds by means of the current control of the two electrical motors linked to them, so that the car presents an appropriate behavior during all possible maneuvers. Finally, computation models were run in order to compare the three controllers.