HYBRID CONTROL OF ELECTRIC VEHICLE LATERAL DYNAMICS STABILIZATION

Khatir Tabti – Mohamend Bourahla – Lotfi Mostefai

   This paper presents a novel method for motion control and driver stability system of an electric vehicle with independently driven wheels. By formulating the vehicle dynamics with approximating the tire-force characteristics by piecewise affine functions, the vehicle dynamics are formulated as a linear hybrid dynamical system to design a hybrid model predictive controller. This controller was expected to make the yaw rate follow the reference. Vehicle speed is estimated using a multi-sensor data fusion method. Simulation results in Matlab/Simulink have shown that the proposed control scheme takes advantages of electric vehicle and enhances the vehicle stability.

Keywords: electric vehicle, hybrid model predictive control, yaw moment control

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