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This paper focuses on the stability control algorithm for four-wheel independent steering (4WIS) and four-wheel independent drive (4WID) electric vehicle (EV) with the coordinated control of four-wheel steering (4WS) and direct yaw-moment control (DYC) techniques. In order to design an adaptive gain-scheduled robust controller for stability control, linear parameter-varying (LPV) system and H∞ optimal control theory are applied. The polytopic model is proposed to build the LPV system for 4WIS-4WID EV. Taking structured uncertainties and sensor noise into consideration, gain-scheduled robust controller is designed and worked out using linear matrix inequality (LMI). To verify the performance of the adaptive gain-scheduled robust controller, fishhook maneuver and sinusoidal steering maneuver are carried out based on hardware-in-the-loop (HIL) tests. Test results indicate that the adaptive gain-scheduled robust controller can improve vehicle's handling stability especially in extreme conditions. Meanwhile, the designed controller shows strong robustness to suppress system parametric perturbation.
Hang et al. (Wed,) studied this question.