Robust reconfigurable control for in-wheel motor vehicles

Péter Gáspár, József Bokor, András Mihály, Zoltán Szabó, Timea Fülep, Ferenc Szauter

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

Abstract

The paper deals with reconfigurable control of in-wheel electric vehicles. Basically the vehicle is controlled alone by the four electric engines mounted in the wheels of the vehicle. The goal is to design a control system with velocity and trajectory tracking ability realized by separate torque generation of the in-wheel motors. In critical driving situations when the yaw moment cannot be established with the four in-wheel engine alone, the high-level controller reconfigures the actuator inputs, thus steering intervention helps to stabilize the vehicle. Moreover, a multi-layer supervisory architecture for integrated control systems is also proposed. The operation of the vehicle is illustrated through a CarSim simulation example.

Original languageEnglish
Title of host publication2014 IEEE International Electric Vehicle Conference, IEVC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479960750
DOIs
Publication statusPublished - Mar 6 2015
Event2014 IEEE International Electric Vehicle Conference, IEVC 2014 - Florence, Italy
Duration: Dec 17 2014Dec 19 2014

Publication series

Name2014 IEEE International Electric Vehicle Conference, IEVC 2014

Other

Other2014 IEEE International Electric Vehicle Conference, IEVC 2014
CountryItaly
CityFlorence
Period12/17/1412/19/14

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Keywords

  • LPV methods
  • integrated control
  • reconfigurable
  • robust control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Automotive Engineering

Cite this

Gáspár, P., Bokor, J., Mihály, A., Szabó, Z., Fülep, T., & Szauter, F. (2015). Robust reconfigurable control for in-wheel motor vehicles. In 2014 IEEE International Electric Vehicle Conference, IEVC 2014 [7056232] (2014 IEEE International Electric Vehicle Conference, IEVC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IEVC.2014.7056232