Networked Yaw Rate Tracking Control of Four-Wheel-Independent-Drive Electric Vehicle in Steering Process

This paper deals with the networked yaw rate tracking control problem of a Four-Wheel-Independent-Drive electric vehicle (FWID-EV) in steering process. Based on the dynamics of the FWID-EV and an expected yaw rate, an augmented state-space representation is presented to model the tracking control system with disturbance inputs. An interval input delay system is used to describe the networked yaw rate tracking control system subject to network-induced delays and data losses. By constructing an augmented Lyapunov-Krasovskii functional according to the form of second-order Bessel-Legendre inequality, a new bounded real lemma is derived and the networked $H_{\infty}$ tracking control design result is established by solving linear matrix inequalities. Two numerical examples are provided to verify the obtain results.