Attenuating noise effect on yaw rate control of independent drive electric vehicle using minimum variance controller

详细信息    查看全文

• 作者：Yousef Alipouri ; Hasan Alipour
• 关键词：Four wheel drive electric vehicle ; Yaw rate control ; Generalized minimum variance control ; Process noise reduction
• 刊名：Nonlinear Dynamics
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：87
• 期：3
• 页码：1637-1651
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems, Control; Classical Mechanics; Mechanical Engineering; Automotive Engineering;
• 出版者：Springer Netherlands
• ISSN：1573-269X
• 卷排序：87

文摘

In almost all real-world application such as electric vehicles, system outputs are corrupted by various types of noises. Although the sliding mode controller is a popular controller in the electrical vehicle applications, it is vulnerable to the noisy signals, and even intensify its unwilling effects. In this paper, to eliminate process noise and stabilize the vehicle in noisy conditions, a minimum variance controller is utilized. It is shown that this controller is able to decrease the system output variance, optimally. Besides, it can track yaw rate and velocity reference inputs. Also stability condition is reached. Furthermore, decreasing control signal variance along with output variance is studied in this paper. Finally, the proposed approach is compared with sliding mode controller in noisy condition on four wheel drive electric vehicle which is simulated in MATLAB and CARSIM environments.