An Improved Motion Control with Cyber-Physical Uncertainty Tolerance for Distributed Drive Electric Vehicle

Wanke Cao, Zhiwen Zhu, Jinrui Nan, Qingqing Yang, Guangjian Gu, Hongwen He

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)
46 Downloads (Pure)


A lateral motion control scheme for a distributed drive electric vehicle is presented in this paper, which takes into account both in-car network and movement-parameter uncertainty in a synthetic manner. Distributed drive vehicles have obvious advantages in terms of safety and comfort at high speeds due to the well-known E/E architecture, which includes an in-vehicle network, advanced vehicle motion control, and Advanced Driver Assistance System (ADAS) technologies. This is a fundamentally cyber-physical system. However, on the other hand, the application/insertion of in-vehicle network and the dynamic of wide-range varying speeds introduce additional system uncertainties, such as time-varying network induced delays and inevitable system perturbation, making controller design a difficult problem and even making the system unstable. This paper develops a cyber-physical control scheme and under which a two-process perturbation analysis is proposed to illustrate the system uncertainties. A hierarchical control strategy is also devised, with an upper-level gain-scheduling controller dealing with speed perturbation uncertainties and a lower-level H∞ -LQR controller dealing with in-vehicle network uncertainty. Using real-time hardware in loop testing, the suggested control technique was found to be effective in dealing with both in-vehicle network and system perturbation problems while also ensuring reliable vehicle stability in all three scenarios.

Original languageEnglish
Pages (from-to)770-778
Number of pages9
JournalIEEE Access
Early online date21 Dec 2021
Publication statusPublished - 2022

Bibliographical note

Funding Information:
This work was supported in part by the Open Program of Hunan Provincial Key Laboratory of Vehicle Power and Transmission System under Grant VPTS202001, in part by the Key Research and Development Program of Guangdong Province under Grant 2020B0909030002, and in part by the National Key Research and Development Program of China under Grant 2020YFB1600203.

Publisher Copyright:
© 2013 IEEE.


  • cyber -physical
  • direct yaw-moment control (DYC)
  • Distributed drive electric vehicle
  • gain-scheduling
  • H∞-LQR)
  • two-process perturbation analysis

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)


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