Multi-Objective Comprehensive Control of Trajectory Tracking for Four-In-Wheel-Motor Drive Electric Vehicle With Differential Steering
نویسندگان
چکیده
For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of four-in-wheel motor independent-drive vehicle (4MIDEV) established comprehensively considering steering characteristics, longitudinal and lateral characteristics. Takagi Sugeno (T-S) fuzzy adopted to deal nonlinear time-varying characteristics parameters such as speed front wheel angle. targets are divided into kinematic target accuracy well stability performance. generalized $H_{2}$ norm notation="LaTeX">$H_{\infty }$ selected constrain respectively. notation="LaTeX">$H_{2}/H_{\infty controller designed improve hardware in loop test (HIL) verified that can comprehensive performance balance between
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3074215