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Robust yaw stability control for electric vehicles based on active front steering control through a steer-by-wire system

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Abstract

A robust yaw stability control design based on active front steering control is proposed for in-wheel-motored electric vehicles with a Steer-by-Wire (SbW) system. The proposed control system consists of an inner-loop controller (referred to in this paper as the steering angle-disturbance observer (SA-DOB), which rejects an input steering disturbance by feeding a compensation steering angle) and an outer-loop tracking controller (i.e., a PI-type tracking controller) to achieve control performance and stability. Because the model uncertainties, which include unmodeled high frequency dynamics and parameter variations, occur in a wide range of driving situations, a robust control design method is applied to the control system to simultaneously guarantee robust stability and robust performance of the control system. The proposed control algorithm was implemented in a CaSim model, which was designed to describe actual in-wheel-motored electric vehicles. The control performances of the proposed yaw stability control system are verified through computer simulations and experimental results using an experimental electric vehicle.

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Authors and Affiliations

  1. Department of Electrical Engineering, The University of Tokyo, Tokyo, 113-0033, Japan

    K. Nam & S. Oh

  2. Department of Advanced Energy, The University of Tokyo, Chiba, 277-856, Japan

    H. Fujimoto & Y. Hori

Authors
  1. K. Nam
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  2. S. Oh
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  3. H. Fujimoto
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  4. Y. Hori
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Correspondence to K. Nam.

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Nam, K., Oh, S., Fujimoto, H. et al. Robust yaw stability control for electric vehicles based on active front steering control through a steer-by-wire system. Int.J Automot. Technol. 13, 1169–1176 (2012). https://doi.org/10.1007/s12239-012-0120-6

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  • DOI: https://doi.org/10.1007/s12239-012-0120-6

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