Distributed driving electric vehicle lateral stability control method considering time delay
This paper introduces a novel control method to address lateral stability challenge in distributed driving electric vehicles. By considering inherent time delay and unknown sensor measurement error generated from design, manufacturing, and external disturbances, the proposed approach achieves better...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2025-07-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940241289221 |
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| _version_ | 1850121758098587648 |
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| author | Qinghua Meng Ze-Kun Zhang Zong-Yao Sun |
| author_facet | Qinghua Meng Ze-Kun Zhang Zong-Yao Sun |
| author_sort | Qinghua Meng |
| collection | DOAJ |
| description | This paper introduces a novel control method to address lateral stability challenge in distributed driving electric vehicles. By considering inherent time delay and unknown sensor measurement error generated from design, manufacturing, and external disturbances, the proposed approach achieves better robustness. Firstly, we establish a two-degree-of-freedom (2-DOF) dynamic model for lateral motion of an electric vehicle driven by in-wheel motors (EV-DIM). Based on this model, a control system considering time delay and unknown sensor measurement error is constructed. The control system incorporates a controller based on a dual domination gains observer, and its global asymptotic stability is rigorously proved by the Lyapunov method. Numerical simulations and co-simulations via CarSim and Simulink verify the method’s effectiveness. Compared to the sliding mode control, the proposed method shows better performance which indicates this approach promising for enhancing lateral stability of an electric vehicle. |
| format | Article |
| id | doaj-art-c742ba7f51eb4f2fa2b50b241fe26b43 |
| institution | OA Journals |
| issn | 0020-2940 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj-art-c742ba7f51eb4f2fa2b50b241fe26b432025-08-20T02:35:00ZengSAGE PublishingMeasurement + Control0020-29402025-07-015810.1177/00202940241289221Distributed driving electric vehicle lateral stability control method considering time delayQinghua Meng0Ze-Kun Zhang1Zong-Yao Sun2School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, ChinaSchool of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, Zhejiang, ChinaInstitute of Automation, Qufu Normal University, Qufu, Shandong, ChinaThis paper introduces a novel control method to address lateral stability challenge in distributed driving electric vehicles. By considering inherent time delay and unknown sensor measurement error generated from design, manufacturing, and external disturbances, the proposed approach achieves better robustness. Firstly, we establish a two-degree-of-freedom (2-DOF) dynamic model for lateral motion of an electric vehicle driven by in-wheel motors (EV-DIM). Based on this model, a control system considering time delay and unknown sensor measurement error is constructed. The control system incorporates a controller based on a dual domination gains observer, and its global asymptotic stability is rigorously proved by the Lyapunov method. Numerical simulations and co-simulations via CarSim and Simulink verify the method’s effectiveness. Compared to the sliding mode control, the proposed method shows better performance which indicates this approach promising for enhancing lateral stability of an electric vehicle.https://doi.org/10.1177/00202940241289221 |
| spellingShingle | Qinghua Meng Ze-Kun Zhang Zong-Yao Sun Distributed driving electric vehicle lateral stability control method considering time delay Measurement + Control |
| title | Distributed driving electric vehicle lateral stability control method considering time delay |
| title_full | Distributed driving electric vehicle lateral stability control method considering time delay |
| title_fullStr | Distributed driving electric vehicle lateral stability control method considering time delay |
| title_full_unstemmed | Distributed driving electric vehicle lateral stability control method considering time delay |
| title_short | Distributed driving electric vehicle lateral stability control method considering time delay |
| title_sort | distributed driving electric vehicle lateral stability control method considering time delay |
| url | https://doi.org/10.1177/00202940241289221 |
| work_keys_str_mv | AT qinghuameng distributeddrivingelectricvehiclelateralstabilitycontrolmethodconsideringtimedelay AT zekunzhang distributeddrivingelectricvehiclelateralstabilitycontrolmethodconsideringtimedelay AT zongyaosun distributeddrivingelectricvehiclelateralstabilitycontrolmethodconsideringtimedelay |