Lateral Motion Stability Control Via Sampled-Data Output Feedback of a High-Speed Electric Vehicle Driven by Four In-Wheel Motors

Abstract

This paper presents a lateral motion stability control method for an electric vehicle (EV) driven by four in-wheel motors subject to time-variable high speeds and uncertain disturbances caused by severe road conditions, siding wind forces, and different tire pressures. In order to tackle the uncertain disturbances, an almost disturbance decoupling method (ADD) using sampled-data output feedback control which is more suitable for computer implementation is proposed based on the domination approach. The proposed controller can attenuate the disturbances' effect on the output to an arbitrary degree of accuracy. Simulation results under different speeds by matlab show the effectiveness of the control method.