{"title":"Glocal motion control system of in-wheel-motor electric vehicles based on driving force distribution","authors":"B. Nguyen, H. Fujimoto, S. Hara","doi":"10.1109/SICEISCS.2016.7470175","DOIUrl":null,"url":null,"abstract":"Utilizing the glocal control concept, this paper presents a novel framework of in-wheel-motor electric vehicle motion control based on driving force distribution. Considering each wheel as a local agent, this paper proposes an appropriate model of driving force dynamics as linear time-varying inter-connected system. Moreover, this paper introduces a new hierarchical structure to attain multi-objectives of motion control. Last but not least, a new hierarchical LQR controller is proposed for driving force tracking. The effectiveness of the proposed system is verified through a simulation of motion control of electric vehicle driven by four in-wheel-motors.","PeriodicalId":371251,"journal":{"name":"2016 SICE International Symposium on Control Systems (ISCS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 SICE International Symposium on Control Systems (ISCS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/SICEISCS.2016.7470175","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 8
Abstract
Utilizing the glocal control concept, this paper presents a novel framework of in-wheel-motor electric vehicle motion control based on driving force distribution. Considering each wheel as a local agent, this paper proposes an appropriate model of driving force dynamics as linear time-varying inter-connected system. Moreover, this paper introduces a new hierarchical structure to attain multi-objectives of motion control. Last but not least, a new hierarchical LQR controller is proposed for driving force tracking. The effectiveness of the proposed system is verified through a simulation of motion control of electric vehicle driven by four in-wheel-motors.
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