Compensation-Based Robust Decoupling Control System for the Lateral and Longitudinal Stability of Distributed Drive Electric Vehicle

Abstract

The lateral and longitudinal stability is important and difficult for a distributed drive electric vehicle (DDEV). Current control methods for the lateral and longitudinal stability are designed based on the static model and parameter without considering the uncertain characteristic in the DDEV. To solve this problem, this paper presents a novel compensation-based robust decoupling control system (CRDCS), which consists of a robust decoupling controller (RDC) and a feedback compensation controller (FCC). The RDC can achieve the robust stability for the DDEV and obtain the decoupling control signals, using a robust inverse model constructed by a radial basis function neural network. The FCC can eliminate the control error caused by the uncertain characteristic in the DDEV, utilizing the compensation control signals obtained by the designed reference model and the model-predictive controller (MPC). The simulation is carried on the Carsim and MATLAB, and the results show that the proposed CRDCS has good robust performance for the lateral and longitudinal stability of the DDEV.