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http://dx.doi.org/10.5302/J.ICROS.2016.16.0084

Cornering Stability Control of a Personal Electric Vehicle with Direct-Drive In-Wheel Motors  

Nam, Kanghyun (School of Mechanical Engineering, Yeungnam University)
Eum, Sangjune (School of Mechanical Engineering, Yeungnam University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.11, 2016 , pp. 919-924 More about this Journal
Abstract
This paper proposes a robust control design method for improving the cornering stability of a personal electric vehicle equipped with in-wheel motors. In general, vehicles undergo severe parameter variations and unpredictable disturbances with respect to a wide range of driving conditions (e.g., road surface conditions and vehicle velocity conditions). For this reason, robust control design techniques are required to guarantee consistent driving performances and robustness against various driving conditions. In this paper, an adaptive sliding mode control method is employed to enhance cornering stability by controlling the direct-drive in-wheel motors independently. Additionally, in order to confirm the effectiveness of a proposed control method, real driving tests with an experimental personal electric vehicle are performed.
Keywords
cornering stability control; sliding mode control; personal electric vehicle;
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