Trajectory tracking based on independently controlled variable-geometry suspension for in-wheel electric vehicles

Balázs Németh, Dániel Fényes, Péter Gáspár, József Bokor

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

5 Citations (Scopus)

Abstract

The paper presents a new variable-geometry suspension system which is applied in-wheel electric vehicles. It is able to realize the steering of the vehicle by independent wheel camber angles and wheel steering and create differential yaw moment by harmonizing the longitudinal forces. In order to perform the trajectory tracking of the vehicle the control signals are the virtual signals, such as differential yaw moment and steering by wheel camber angles. In the suspension system two physical active torques are realized on either side of the front axle and longitudinal forces are realized by in-wheel motors. The control design of the variable-geometry suspension system is based on a hierarchical structure. The purpose of the high-level controller is to calculate the virtual control inputs based on the performance specifications for the road trajectory. The purpose of the low-level controller is to realize the physical active torque of the wheels and track the required differential yaw moment.

Original languageEnglish
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1570-1575
Number of pages6
ISBN (Electronic)9781509018376
DOIs
Publication statusPublished - Dec 27 2016
Event55th IEEE Conference on Decision and Control, CDC 2016 - Las Vegas, United States
Duration: Dec 12 2016Dec 14 2016

Other

Other55th IEEE Conference on Decision and Control, CDC 2016
CountryUnited States
CityLas Vegas
Period12/12/1612/14/16

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

Cite this

Németh, B., Fényes, D., Gáspár, P., & Bokor, J. (2016). Trajectory tracking based on independently controlled variable-geometry suspension for in-wheel electric vehicles. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 1570-1575). [7798489] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7798489