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Direct yaw-moment control for 4WID electric vehicle via finite-time control technique

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Abstract

This paper is concerned with the yaw-moment stabilization for four-wheel independent-drive electric vehicle. A second-order sliding mode observer is first designed to estimate the required sideslip angle in a finite time. Then, the finite-time control technique and nonlinear disturbance observer are applied to construct the upper controller to drive both yaw rate and sideslip angle to their desired values. Finally, the lower controller is developed to distribute the torques to the independent four wheels according to the desired yaw moment obtained by the given upper controller. Comparisons among linear, discontinuous and nonsmooth controllers under different working conditions are given by using CarSim software.

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Authors and Affiliations

  1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, 212013, China

    Shihong Ding

  2. Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China

    Jinlin Sun

  3. University of Chinese Academy of Sciences, Beijing, 100049, China

    Jinlin Sun

Authors
  1. Shihong Ding
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  2. Jinlin Sun
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Corresponding author

Correspondence to Shihong Ding.

Additional information

This work was supported by the NSF of China (Nos. 61573170, 61273154, 51375210) and the PAPD of Jiangsu Higher Education Institutions, the Postdoctoral Science Foundation of China (2015M571687), China Postdoctoral Science Special Foundation (2016T90427) and the Zhejiang Open Foundation of the Most Important Subjects.

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Ding, S., Sun, J. Direct yaw-moment control for 4WID electric vehicle via finite-time control technique. Nonlinear Dyn 88, 239–254 (2017). https://doi.org/10.1007/s11071-016-3240-0

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  • DOI: https://doi.org/10.1007/s11071-016-3240-0

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