TY - GEN
T1 - 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
AU - Nakano, Hiroshi
AU - Okayama, Ken
AU - Kinugawa, Jun
AU - Kosuge, Kazuhiro
PY - 2014/1/1
Y1 - 2014/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84906673544&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2014.6878223
DO - 10.1109/AIM.2014.6878223
M3 - Conference contribution
AN - SCOPUS:84906673544
SN - 9781479957361
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1073
EP - 1078
BT - AIM 2014 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2014
Y2 - 8 July 2014 through 11 July 2014
ER -