Hierarchical robust control for in-wheel motor vehicles

P. Gáspár, József Bokor, Z. Szabó, Tímea Fülep, Ferenc Szauter, András Mihály

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The paper proposes the design of an integrated vehicle control system for in-wheel electric vehicle, which is able to track road geometry with a predefined reference velocity. In the design the lateral and longitudinal dynamics are combined using the in-wheel motors and the steering system. The design methodology of the hierarchical control is proposed. The required control signals are calculated by applying high-level controllers, which are designed using a robust control method. For the control design the model is augmented with weighting functions specified by the performance demands. The actuators generating the necessary control signals in order to achieve the requirements for which low-level tracking controllers are designed.

Original languageEnglish
Title of host publicationProceedings of the 14th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2014
PublisherTechnical University of Budapest
Pages71-81
Number of pages11
Volume2014-January
ISBN (Electronic)9789633131862
Publication statusPublished - 2014
Event14th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2014 - Budapest, Hungary
Duration: Nov 10 2014Nov 12 2014

Other

Other14th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2014
CountryHungary
CityBudapest
Period11/10/1411/12/14

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ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Gáspár, P., Bokor, J., Szabó, Z., Fülep, T., Szauter, F., & Mihály, A. (2014). Hierarchical robust control for in-wheel motor vehicles. In Proceedings of the 14th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2014 (Vol. 2014-January, pp. 71-81). Technical University of Budapest.