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H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment

Lu, Q, Sorniotti, A, Gruber, P, Theunissen, J and De Smet, J (2016) H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment Mechatronics, 35. pp. 32-43.

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Abstract

This paper presents an H ∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives. The design of the controller based on loop shaping and a state observer configuration is discussed, considering the effect of actuation dynamics. A gain scheduling of the controller parameters as a function of vehicle speed is implemented. The increased robustness of the H ∞ controller with respect to a Proportional Integral controller is analyzed, including simulations with different tire parameters and vehicle inertial properties. Experimental results on a four-wheel-drive electric vehicle demonstrator with on-board electric drivetrains show that this control formulation does not need a feedforward contribution for providing the required cornering response in steady-state and transient conditions.

Item Type: Article
Subjects : Mechanical Engineering
Divisions : Faculty of Engineering and Physical Sciences > Mechanical Engineering Sciences
Authors :
AuthorsEmailORCID
Lu, QUNSPECIFIEDUNSPECIFIED
Sorniotti, AUNSPECIFIEDUNSPECIFIED
Gruber, PUNSPECIFIEDUNSPECIFIED
Theunissen, JUNSPECIFIEDUNSPECIFIED
De Smet, JUNSPECIFIEDUNSPECIFIED
Date : 10 February 2016
Identification Number : 10.1016/j.mechatronics.2015.12.005
Copyright Disclaimer : © 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/ ).
Depositing User : Symplectic Elements
Date Deposited : 07 Sep 2016 10:41
Last Modified : 07 Sep 2016 10:41
URI: http://epubs.surrey.ac.uk/id/eprint/812009

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