H∞ loop shaping for the torque-vectoring control of electric vehicles: Theoretical design and experimental assessment

Qian Lu, Aldo Sorniotti, Patrick Gruber, Johan Theunissen, Jasper De Smet

Research output: Contribution to journalArticle

27 Citations (Scopus)
2 Downloads (Pure)

Abstract

This paper presents an H∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives. The design of the controller based on loop shaping and a state observer configuration is discussed, considering the effect of actuation dynamics. A gain scheduling
of the controller parameters as a function of vehicle speed is implemented. The increased robustness of the H∞ controller with respect to a Proportional Integral controller is analyzed, including simulations with different tire parameters and vehicle inertial properties. Experimental results on a four-wheel-drive
electric vehicle demonstrator with on-board electric drivetrains show that this control formulation does not need a feedforward contribution for providing the required cornering response in steady-state and transient conditions.
Original languageEnglish
Pages (from-to)32-43
Number of pages12
JournalMechatronics
Volume35
Early online date10 Feb 2016
DOIs
Publication statusPublished - May 2016
Externally publishedYes

Bibliographical note

© 2016 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

Keywords

  • Electric vehicles
  • Torque-vectoring
  • Yaw rate control
  • H∞ loop shaping
  • Actuation dynamics
  • Experimental tests

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