The robust controller for the four-wheel independent steering system of the electric vehicle

An optimized linear plus parabolic velocity profile is proposed for the four-wheel independent steering system of the electric vehicle. To eliminate the trajectory tracking error, a robust controller is designed for the system which undergoes uncertain nonlinear disturbances and whose model paramete...

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Bibliographic Details
Main Authors: Yachen Zhang, Xiaochun Zhu, Songfeng Liang
Format: Conference Proceeding
Language:chi ; eng
Subjects:
Automotive engineering
Electric vehicles
four-wheel independent steering system
lyapunov
Manipulators
optimized trajectory
robust
Robustness
Steering systems
tracking accuracy
Trajectory
Online Access:Request full text
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Description
Summary:An optimized linear plus parabolic velocity profile is proposed for the four-wheel independent steering system of the electric vehicle. To eliminate the trajectory tracking error, a robust controller is designed for the system which undergoes uncertain nonlinear disturbances and whose model parameters are unknown. The experimental results satisfies the control tracking accuracy for different mounting request, which approved the effectiveness of the designed robust controller.
DOI:10.1109/RSETE.2011.5964882