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Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control

Author

Listed:
  • Chenning Wang

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China
    School of Electronic Engineering and Intelligent Manufacturing, Anqing Normal University, Anqing 246133, China)

  • Ren He

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Zhecheng Jing

    (School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, China)

  • Shijun Chen

    (School of Electronic Engineering and Intelligent Manufacturing, Anqing Normal University, Anqing 246133, China)

Abstract

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.

Suggested Citation

  • Chenning Wang & Ren He & Zhecheng Jing & Shijun Chen, 2022. "Coordinated Path Following Control of 4WID-EV Based on Backstepping and Model Predictive Control," Energies, MDPI, vol. 15(15), pages 1-16, August.
    • Handle: RePEc:gam:jeners:v:15:y:2022:i:15:p:5728-:d:882068
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    References listed on IDEAS

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    1. Jiming Lin & Teng Zou & Feng Zhang & Yong Zhang, 2022. "Yaw Stability Research of the Distributed Drive Electric Bus by Adaptive Fuzzy Sliding Mode Control," Energies, MDPI, vol. 15(4), pages 1-16, February.
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    Cited by:

    1. Wenliang Zhang & Lars Drugge & Mikael Nybacka & Jenny Jerrelind, 2023. "Integrated Control of Motion Actuators for Enhancing Path Following and Yaw Stability of Over-Actuated Autonomous Vehicles," Energies, MDPI, vol. 16(12), pages 1-23, June.

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