Adaptive fractional-order nonsingular terminal sliding mode control and sequential quadratic programming torque distribution for lateral stability of FWID-EVs with actuator constraints.

Autor: Hua, Xingqi, Wong, Pak Kin, Zhao, Jing, Xie, Zhengchao
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Zdroj: ISA Transactions; Jul2024, Vol. 150, p208-222, 15p
Abstrakt: This paper proposes a novel sliding mode control (SMC) algorithm for direct yaw moment control of four-wheel independent drive electric vehicles (FWID-EVs). The algorithm integrates adaptive law theory, fractional-order theory, and nonsingular terminal sliding mode reaching law theory to reduce chattering, handle uncertainty, and avoid singularities in the SMC system. A sequential quadratic programming (SQP) method is also proposed to optimize the yaw moment distribution under actuator constraints. The performance of the proposed algorithm is evaluated by a hardware-in-the-loop test with two driving maneuvers and compared with two existing SMC-based schemes together with the cases with the change of vehicle parameters and disturbances. The results demonstrate that the proposed algorithm can eliminate chattering and achieve the best lateral stability as compared with the existing schemes. [Display omitted] • A novel AFONT-SMC is proposed to achieve fast global convergence and precise tracking. • An adaptive law is proposed to avoid singularity and strengthen the system robustness. • A new boundary of full vehicle is studied to ensure the controllability of FWID-EVs. • Two new actuator constraints are studied to improve torque distribution in FWID-EVs. [ABSTRACT FROM AUTHOR]
Databáze: Supplemental Index
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