Control of an electric vehicle with a large sideslip angle using driving forces of four independently-driven wheels and steer angle of front wheels@irs.mech.tohoku.ac.jp

Hiroshi Nakano, Ken Okayama, Jun Kinugawa, Kazuhiro Kosuge

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper proposes a motion control scheme for an electric vehicle with a large sideslip angle. The scheme employs the driving forces of the four independently driven wheels and the steer angle of the front wheels. The proposed control algorithm is derived in two steps based on a planar vehicle dynamics with four wheels. First, a control algorithm is derived for the control of forward velocity and yaw rate based on vehicle dynamics. This algorithm describes forward translational motion and yaw rotational motion using redundant driving forces generated by the four wheels as control inputs. Second, a control algorithm for the sideslip angle of the vehicle is derived based on lateral translational motion dynamics of the vehicle using the steer angle of the front wheels as an input. The proposed control algorithm is implemented in a small experimental vehicle, and experimental results illustrate the effectiveness of the proposed motion control scheme.

Original languageEnglish
Title of host publicationAIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1073-1078
Number of pages6
ISBN (Print)9781479957361
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014 - Besancon, France
Duration: 2014 Jul 82014 Jul 11

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
CountryFrance
CityBesancon
Period14/7/814/7/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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