Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering Vehicle
This study aims to enhance the control performance of four-wheel independent steering vehicles (4WIS), which are increasingly recognized as a key innovation in electric vehicle technology. 4WIS provides a high degree of freedom and dynamic performance by enabling the independent steering of each whe...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10976668/ |
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| author | Gyu-Yong Hwang Chulhee Han Min-Sang Seong Dongwook Lee Jong-Seok Oh |
| author_facet | Gyu-Yong Hwang Chulhee Han Min-Sang Seong Dongwook Lee Jong-Seok Oh |
| author_sort | Gyu-Yong Hwang |
| collection | DOAJ |
| description | This study aims to enhance the control performance of four-wheel independent steering vehicles (4WIS), which are increasingly recognized as a key innovation in electric vehicle technology. 4WIS provides a high degree of freedom and dynamic performance by enabling the independent steering of each wheel. However, as an over-actuated system, it requires the allocation of four steering angles from a single driver input, making control allocation critical. Existing methods often fail to fully consider the friction limits of individual tires, potentially compromising vehicle stability, especially under severe driving conditions. To address this, a grip margin-based control allocation (GMCA) technique is proposed, which distributes control forces according to each tire’s available friction, minimizing yaw rate error and side-slip angle while maintaining stability. GMCA is formulated using computationally efficient algebraic operations, enabling real-time implementation. Validation through Simulink/CarMaker co-simulation confirms that GMCA improves maneuverability and lateral stability over conventional methods, offering practical benefits for precise control of 4WIS vehicles under severe road conditions. |
| format | Article |
| id | doaj-art-af748e03e0234cb4b564d0948214ed88 |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-af748e03e0234cb4b564d0948214ed882025-08-20T02:14:38ZengIEEEIEEE Access2169-35362025-01-0113744577446910.1109/ACCESS.2025.356443910976668Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering VehicleGyu-Yong Hwang0https://orcid.org/0009-0001-1090-6573Chulhee Han1Min-Sang Seong2Dongwook Lee3https://orcid.org/0000-0002-8061-1025Jong-Seok Oh4https://orcid.org/0000-0001-6976-6205Department of Future Convergence Engineering, Kongju National University, Cheonan, Republic of KoreaVehicle Control Technology Development Team 3, Hyundai Motor Company Inc., Hwaseong, Republic of KoreaVehicle Control Technology Development Team 3, Hyundai Motor Company Inc., Hwaseong, Republic of KoreaDepartment of Mechanical and Automotive Engineering, Kongju National University, Cheonan, Republic of KoreaDepartment of Future Convergence Engineering, Kongju National University, Cheonan, Republic of KoreaThis study aims to enhance the control performance of four-wheel independent steering vehicles (4WIS), which are increasingly recognized as a key innovation in electric vehicle technology. 4WIS provides a high degree of freedom and dynamic performance by enabling the independent steering of each wheel. However, as an over-actuated system, it requires the allocation of four steering angles from a single driver input, making control allocation critical. Existing methods often fail to fully consider the friction limits of individual tires, potentially compromising vehicle stability, especially under severe driving conditions. To address this, a grip margin-based control allocation (GMCA) technique is proposed, which distributes control forces according to each tire’s available friction, minimizing yaw rate error and side-slip angle while maintaining stability. GMCA is formulated using computationally efficient algebraic operations, enabling real-time implementation. Validation through Simulink/CarMaker co-simulation confirms that GMCA improves maneuverability and lateral stability over conventional methods, offering practical benefits for precise control of 4WIS vehicles under severe road conditions.https://ieeexplore.ieee.org/document/10976668/Vehicle stability controlsliding mode controldirect yaw moment controlcontrol allocationgrip margin-based control allocation (GMCA) |
| spellingShingle | Gyu-Yong Hwang Chulhee Han Min-Sang Seong Dongwook Lee Jong-Seok Oh Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering Vehicle IEEE Access Vehicle stability control sliding mode control direct yaw moment control control allocation grip margin-based control allocation (GMCA) |
| title | Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering Vehicle |
| title_full | Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering Vehicle |
| title_fullStr | Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering Vehicle |
| title_full_unstemmed | Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering Vehicle |
| title_short | Grip Margin-Based Control Allocation for Enhanced Vehicle Stability in Four-Wheel Independent Steering Vehicle |
| title_sort | grip margin based control allocation for enhanced vehicle stability in four wheel independent steering vehicle |
| topic | Vehicle stability control sliding mode control direct yaw moment control control allocation grip margin-based control allocation (GMCA) |
| url | https://ieeexplore.ieee.org/document/10976668/ |
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