This book presents techniques such as the robust control and nonlinearity approximation using linear-parameter-varying (LPV) techniques. Meanwhile, the control of independently driven electric vehicles and autonomous vehicles is introduced. It covers a comprehensive literature review, robust state estimation with uncertain measurements, sideslip angle estimation with finite-frequency optimization, fault detection of vehicle steering systems, output-feedback control of in-wheel motor-driven electric vehicles, robust path following control with network-induced issues, and lateral motion control with the consideration of actuator saturation. This book is a good reference for researchers and engineers working on control of electric vehicles.
Author(s): Hui Zhang, Rongrong Wang, Junmin Wang
Series: Key Technologies on New Energy Vehicles
Publisher: Springer-HUST
Year: 2023
Language: English
Pages: 216
City: Wuhan
Foreword
Preface
Acknowledgements
Committe of Reveiwing Editors
Contents
Acronyms
1 Polytopic LPV Approaches for Intelligent Automotive Systems: State of the Art and Future Challenges
1.1 Introduction
1.2 Polytopic Linear Parameter-Varying Systems
1.2.1 A Motivating Automotive Application
1.2.2 Polytopic LPV System Description
1.2.3 Lyapunov-Based Stability of Polytopic LPV Systems
1.2.4 Gain-Scheduled Control Laws for LPV Systems
1.2.5 Gain-Scheduled Control of Polytopic LPV Systems
1.2.6 Multiple Convex Summation Relaxation
1.2.7 Observer Design for LPV Systems
1.2.8 Polytopic LPV Models and Takagi–Sugeno Models
1.3 Applications to Vehicle Dynamics Control
1.3.1 Vehicle Dynamics
1.3.2 Choices of Scheduling Parameters for LPV Control
1.4 Applications to Autonomous Vehicles
1.5 Applications to Vehicular Powertrain Systems
1.5.1 Internal Combustion Engines
1.5.2 Electric Vehicles
1.5.3 Aftertreatment Systems
1.6 Future Research Trends and Challenges
1.6.1 LPV Complexity Reduction
1.6.2 Fault Detection and Fault-Tolerant Control
1.6.3 Limited Capacities of Perception and Motion Planning
1.6.4 Driver-Automation Shared Driving Control
1.7 Concluding Remarks
References
2 H∞ Observer Design for LPV Systems with Uncertain Measurements on Scheduling Variables: Application to an Electric Ground Vehicle
2.1 Introduction
2.2 Problem Formulation and Preliminary
2.3 Observer Design
2.4 Application to an EGV
2.5 Conclusion
References
3 Sideslip Angle Estimation of An Electric Ground Vehicle Via Finite-Frequency H∞ Approach
3.1 Introduction
3.2 Problem Formulation and Preliminary
3.2.1 Introduction of the Electric Ground Vehicle
3.2.2 System Modeling and Identification
3.2.3 Model Transformation and Problem Formulation
3.2.4 Design Objectives
3.3 Observer Design
3.4 Experimental Results
3.5 Conclusion
References
4 Active Steering Actuator Fault Detection for an Automatically Steered Electric Ground Vehicle
4.1 Introduction
4.2 System Introduction and Problem Formulation
4.2.1 Acquisition System and Steering Actuator of EGV
4.2.2 EGV System Modeling
4.3 Main Results
4.3.1 Stability Analysis and Observer Design
4.3.2 H_ Performance and Observer Design
4.3.3 H∞ Performance and Observer Design
4.3.4 Mixed H_/H∞ Observer Design
4.4 Experiment-Based Simulation Results
4.5 Conclusions
References
5 Robust H∞ Output-Feedback Yaw Control for In-Wheel Motor-Driven Electric Vehicles with Differential Steering
5.1 Introduction
5.2 System Modeling and Problem Formulation
5.2.1 Vehicle Dynamics with Differential Steering
5.2.2 Vehicle Modeling with Parameter Uncertainties
5.2.3 Problem Statement
5.3 Robust Controller Design
5.4 Simulation Results
5.4.1 J-Turn Simulation
5.4.2 Double-Lane Change
5.5 Conclusion
References
6 Robust H∞ Path Following Control for Autonomous Ground Vehicles with Delay and Data Dropout
6.1 Introduction
6.2 System Modeling and Problem Formulation
6.2.1 Path Following Model
6.2.2 Vehicle Model
6.2.3 Path Following with Delay and Data Packet Dropout
6.2.4 Problem Statement
6.3 Robust H∞ Controller Design with Delay and Data Dropout
6.4 Simulation Results
6.4.1 Single-Lane Change Maneuver
6.4.2 Double-Lane Change Maneuver
6.5 Conclusion
References
7 Robust Lateral Motion Control of Four-Wheel Independently Actuated Electric Vehicles with Tire Force Saturation Consideration
7.1 Introduction
7.2 System Modeling
7.2.1 Vehicle Model
7.2.2 Vehicle Model Considering Parameter Uncertainties
7.3 Control System Design
7.3.1 Higher-Level Controller Design
7.3.2 Lower-Level Controller Design
7.4 Simulation Studies
7.4.1 Single Lane Changing
7.5 J-Turn Simulation
7.6 Conclusion
References
Appendix: Fundamentals of Robust H∞ Control
A.1 Definition of H∞ in the Frequency Domain
A.2 Definition of H∞ in the Time Domain
