2012, Volume 7, Issue 1
Frontiers of Mechanical Engineering >> 2012, Volume 7, Issue 1 doi: 10.1007/s11465-012-0316-5
Towards neutral steer and sideslip reduction for four-wheeled electric vehicles
1. Department of Mathematical Sciences, Shibaura Institute of Technology, Saitama 337–8570, Japan
2. Department of Mechanical Engineering, Osaka Prefecture University, Osaka 599–8531, Japan
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Abstract
This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of ?∞ control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.
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