| ROBUST DIFFERENTIAL STEERING CONTROL SYSTEM FOR AN INDEPENDENT FOUR WHEEL DRIVE ELECTRIC VEHICLE |
| Muhammad Arshad Khan1, Muhammad Faisal Aftab2, Ejaz Ahmed1, Iljoong Youn1 |
1Gyeongsang National University
2Norwegian University of Science and Technology |
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| ABSTRACT |
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This research investigates a robust differential steering control system (DSCS) for an independent four wheel
drive electric vehicle (EV). The DSCS will maneuver the independently actuated (IA) four wheel drive EV without the help
of any conventional steering mechanism (CSM) via the input torque of the four wheels. The differential angular rotation speed
between left and right wheels is used to generate the CSM effects. The DSCS is designed using the linear model of the vehicle
with linear tire dynamics and is tested in simulations using a nonlinear vehicle model with nonlinear tire dynamics. The
proposed DSCS is a combination of forward speed and yaw rate controllers, designed using the robust H∞ control
methodology. The effectiveness of the proposed robust controller is analyzed by comparing the performance of the all-wheel
drive (AWD), the rear wheel drive (RWD), and the front wheel drive (FWD) vehicles during simulations. The simulations
results indicates that the proposed system can successfully maneuver the vehicle under different driving conditions by tracking
the desired parameters without the use of any CSM. |
| Key Words:
Vehicle dynamics, Steering control, Yaw tracking, Nonlinear vehicle model, Four-wheel-steering control,
Differential steering control, Four wheel drive, Electric vehicle, H∞ controller |
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Corresponding Author.
Iljoong Youn , Email. 
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