Steering Angle-Disturbance Observer (SA-DOB) based yaw stability control for electric vehicles with in-wheel motors

ICCAS 2010 - International Conference on Control, Automation and Systems

Volumn , Issue , 2010, Pages 1303-1307

  Nam, Kanghyun ^a   Kim, Yunha ^a   Oh, Sehoon ^a   Hori, Yoichi ^a  

^a UNIVERSITY OF TOKYO   (Japan)

Author keywords

Electric vehicle; Steering Angle Disturbance Observer (SA DOB); Tracking control; Yaw stability control

Indexed keywords

ACTIVE STEERING CONTROL; CONTROL PERFORMANCE; DISTURBANCE OBSERVER; IN-WHEEL MOTOR; LOOP CONTROLLERS; OUTER-LOOP CONTROLLER; STEERING ANGLES; TRACKING CONTROLLER; TRACKING CONTROLS; YAW STABILITY;

ALL WHEEL DRIVE VEHICLES; AUTOMOBILE STEERING EQUIPMENT; AUTOMOBILES; COMPUTER CONTROL SYSTEMS; COMPUTER SIMULATION; CONTROLLERS; ELECTRIC VEHICLES; FLIGHT DYNAMICS; NAVIGATION; OBSERVABILITY; REMOTE CONTROL; STABILITY; STEERING;

CONTROL SYSTEM STABILITY;

EID: 78751563975     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. C. C. Chan, "The State of the Art of Electric and Hybrid Vehicles," Proceedings of the IEEE, vol. 90, no. 2, pp. 247-275, Feb. 2002.
2. N. Mutoh, T. Kazama, and K. Takita, "Driving Characteristics of an Electric Vehicle System With Independently Driven Front and Rear Wheels," IEEE Trans. Ind. Electron., vol. 53, no. 3, pp. 803-813, Jun. 2006.
3. Y. Hori, "Future Vehicle Driven by Electricity and Control-Research on Four-Wheel-Motored "UOT Electric March II"," IEEE Trans. Ind. Electron., vol. 51, no. 5, pp. 654-962, Oct. 2004.
4. S. Sakai, H. Sado, and Y. Hori, "Motion Control in an Electric Vehicle with Four Independently Driven In-Wheel Motors," IEEE/ASME Trans. Mechatron., vol. 4, no. 1, pp. 9-16, Mar. 1999.
5. H. Fujimoto, T. Saito, and T. Noguchi, "Motion Stabilization Control of Electric Vehicle Under Snowy Conditions Based on Yaw-moment Observer," Proc. of IEEE AMC, pp. 35-40, 2004.
6. H. Fujimoto, A. Tsumasaka, and T. Noguchi, "Direct Yaw-moment Control of Electric Vehicle Based on Cornering Stiffness Estimation," Proc. of IEEE IECON, pp. 2626-2631, 2005.
7. D. Yin, S. Oh, and Y. Hori, "A Novel Traction Control for EV Based on Maximum Transmissible Torque Estimation," IEEE Trans. Ind. Electron., vol. 56, no. 6, pp. 2086-2094, Jun. 2009.
8. V. Cerone, M. Milanese, and D. Regruto, "Yaw Stability Control Design Through a Mixed-Sensitivity Approach," IEEE Trans. Control Syst. Technol., vol. 17, no. 5, pp. 1096-1104, Sep. 2009.
9. B. A. Gven, L. Gven, and S. Regruto, "Robust Yaw Stability Controller Design and Hardware-in-the-Loop Testing for a Road Vehicle," IEEE Trans. Veh. Technol., vol. 58, no. 2, pp. 555-571, Feb. 2009.
10. B. A. Gven, T. Bnte, D. Odenthal, and L. Gven, "Robust Two Degree-of-Freedom Vehicle Steering Controller Design," IEEE Trans. Control Syst. Technol., vol. 12, no. 4, pp. 627-636, Jul. 2004.
11. M. Canale, L. Fagiano, A. Ferrara, and C. Vecchio, "Comparing Internal Model Control and Sliding-Mode Approaches for Vehicle Yaw Control," IEEE Trans. Intell. Transp. Syst., vol. 10, no. 1, pp. 31-41, Mar. 2009.
12. J. Ackermann, P. Blue, T. Bnte, L. Gven, D. Kaesbauer, M. Kordt, M. Muhler, and D. Odenthal, Robust Control: The Parameter Space Approach, 2nd ed. London, England: Springer-Verlag, 2002.
13. J. C. Doyle, B. A. Francis, and A. R. Tannenbauml, Feedback Control Theory, New York, NY: Macmillan Publishing Company, 1992.
14. T. Umeno and Y. Hori, "Robust Speed Control of DC Servomotors Using Modern Two Degrees-of-Freedom Controller Design," IEEE Trans. Ind. Electron., vol. 38, no. 5, pp. 363-368, Oct. 1991.
15. H. S. Lee and M. Tomizuka, "Robust Motion Controller Design for High-Accuracy Positioning Systems," IEEE Trans. Ind. Electron., vol. 43, no. 1, pp. 48-55, Feb. 1996.