Integrated optimal dynamics control of 4WD4WS electric ground vehicle with tire-road frictional coefficient estimation
The control gain is obtained with an analytical solution of the Algebraic Riccati Equation. A Barrier Function is used to ensure all the tires work in the stable region. An analytic solution of allocation method is designed. A data fusion method is proposed to minimize the TRFC estimation error.
vehicle lateral dynamics robust control in-wheel motor electric vehicle active steering