Lateral stability enhancement based on a novel sliding mode prediction control for a four-wheel-independently actuated electric vehicle
IET Intelligent Transport Systems(2019)
Abstract
This study presents a novel direct yaw-moment control scheme to improve the lateral stability for a four-wheel-independently actuated electric vehicle. The proposed scheme adopts a cascaded structure that consists in an upper and a lower controller. A novel sliding mode prediction controller is proposed and used in the upper controller for deriving the desired additional yaw moment for lateral sta...
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Key words
cascade control,electric vehicles,optimisation,predictive control,stability,uncertain systems,wheels
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