Robust lateral-plane motion control of four-wheel independently actuated electric vehicles

The paper presents a vehicle lateral-plane motion stability control approach for four-wheel independently actuated (FWIA) electric ground vehicles considering the tire force saturations. Due to the possible modeling inaccuracies and parametric uncertainties, a linear parameter-varying (LPV) based robust H∞ controller is designed to yield the desired external yaw moment. The tire force constraints are considered in the controller design as well. Simulation results based on a high-fidelity, CarSim, full-vehicle model show the effectiveness of the control approach.