Predictor Based Stability Control of Four-Wheel Independent Drive Electric Vehicle with Bounded Input Delay

Abstract

The stability of a four-wheel independent drive electric vehicle (4WID-EV) is a significant concern to prevent accidents and maintain driver safety. In this paper, the proposed controller design guarantees the stability of 4WID-EV and tracks the desired reference trajectory despite bounded input delay. Using the finite spectrum assignment (FSA) technique, the predictor is designed to tackle input time delay and a hierarchical control structure. Hierarchical control structure assures that the vehicle tracks the desired reference path and optimally allocates the required longitudinal force to each wheel to generate yaw moment. The closed-loop stability of 4WID-EV has been proved theoretically by choosing the appropriate Lyapunov function. To validate the effectiveness of the proposed method, numerical simulation has been performed in Matlab/Simulink and the results demonstrate the better tracking performance. © 2022 IEEE