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A decentralized adaptive control system (ACS) for a four motor-generator four-wheel drive hybrid electric vehicle (HEV) is designed and its ability to deal with unknown tire dynamics, changing road surfaces, and vehicle loading is evaluated. A system composed of four separate adaptive controllers is designed to control the vehicle's speed, steering, side slip, and energy management system. A nonlinear simulation model for the vehicle dynamics and its power train components is developed and used to evaluate the performance of the ACS, while the vehicle is simultaneously turning and accelerating or braking under varying loading and icing conditions.
Intelligent Transportation Systems, IEEE Transactions on (Volume:3 , Issue: 4 )
Date of Publication: Dec 2002