Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control
A path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultaneously. Firstly, a 2-DOF vehicle dynamic model and...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/15/15/5728 |
| _version_ | 1827602802899156992 |
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| author | Chenning Wang Ren He Zhecheng Jing Shijun Chen |
| author_facet | Chenning Wang Ren He Zhecheng Jing Shijun Chen |
| author_sort | Chenning Wang |
| collection | DOAJ |
| description | A path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultaneously. Firstly, a 2-DOF vehicle dynamic model and a path following error model are built and the desired yaw rate is obtained through backstepping. Then, a model predictive controller is adopted to track the desired yaw rate and obtain the optimal front wheel steering and external yaw moment. Meanwhile, an optimal torque distribution algorithm is carried out to allocate it to each tire. Finally, the effectiveness and superiority of the strategy is validated via CarSim–Simulink joint simulation. Results show that the strategy has higher following accuracy, smaller sideslip angle, and better yaw rate tracking. |
| first_indexed | 2024-03-09T05:26:42Z |
| format | Article |
| id | doaj.art-d3a72675bce342bfa68d3b7235915a44 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-09T05:26:42Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-d3a72675bce342bfa68d3b7235915a442023-12-03T12:36:41ZengMDPI AGEnergies1996-10732022-08-011515572810.3390/en15155728Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive ControlChenning Wang0Ren He1Zhecheng Jing2Shijun Chen3School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, ChinaSchool of Electronic Engineering and Intelligent Manufacturing, Anqing Normal University, Anqing 246133, ChinaA path following control strategy for a four-wheel-independent-drive electrical vehicle (4WID-EV) based on backstepping and model predictive control is presented, which can ensure the accuracy of path following and maintain vehicle stability simultaneously. Firstly, a 2-DOF vehicle dynamic model and a path following error model are built and the desired yaw rate is obtained through backstepping. Then, a model predictive controller is adopted to track the desired yaw rate and obtain the optimal front wheel steering and external yaw moment. Meanwhile, an optimal torque distribution algorithm is carried out to allocate it to each tire. Finally, the effectiveness and superiority of the strategy is validated via CarSim–Simulink joint simulation. Results show that the strategy has higher following accuracy, smaller sideslip angle, and better yaw rate tracking.https://www.mdpi.com/1996-1073/15/15/5728direct yaw controlactive front steeringmodel predictive controlbackstepping4WID electrical vehicle |
| spellingShingle | Chenning Wang Ren He Zhecheng Jing Shijun Chen Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control Energies direct yaw control active front steering model predictive control backstepping 4WID electrical vehicle |
| title | Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control |
| title_full | Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control |
| title_fullStr | Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control |
| title_full_unstemmed | Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control |
| title_short | Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control |
| title_sort | coordinated path following control of 4wid ev based on backstepping and model predictive control |
| topic | direct yaw control active front steering model predictive control backstepping 4WID electrical vehicle |
| url | https://www.mdpi.com/1996-1073/15/15/5728 |
| work_keys_str_mv | AT chenningwang coordinatedpathfollowingcontrolof4widevbasedonbacksteppingandmodelpredictivecontrol AT renhe coordinatedpathfollowingcontrolof4widevbasedonbacksteppingandmodelpredictivecontrol AT zhechengjing coordinatedpathfollowingcontrolof4widevbasedonbacksteppingandmodelpredictivecontrol AT shijunchen coordinatedpathfollowingcontrolof4widevbasedonbacksteppingandmodelpredictivecontrol |