H∞ Control of Four-Wheel-Independent-Drive Electric Vehicles with Random Time-Varying Delays

作者：Gang Qin, Jianxiao Zou · 发表于：Mathematical Problems in Engineering · 年份：2015 · DOI：10.1155/2015/245493 · 被引用次数：13 · 研究领域：Vehicle Dynamics and Control Systems、Electric and Hybrid Vehicle Technologies、Stability and Control of Uncertain Systems

The random time-varying delays would reduce control performance and even deteriorate the EV system. To deal with random time-varying delays and achieve a real-time steady-state response, considering randomness of delay and a rapid response, an H ∞ -based delay-tolerant linear quadratic regulator (LQR) control method based on Taylor series expansion is proposed in this paper. The results of cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller through the control performance of yaw rate, sideslip angle, and the running track. Moreover, the results of comparison with the other controller illustrate the strength of explicitly.