Motion Path Following Coordinated Control for In-Wheel Motor Electric Vehicle via Implementation Robust Control and Optimal Control

The purpose of this research is to develop an integrated control algorithm system to track the vehicle path in the double lane change scenario with critical and emergency conditions. The proposed control system includes two layers. The first layer is responsible for controlling the motion of the vehicle and benefits from the implementation of two different types of controllers in the proposed algorithm system. In the first layer, the sliding mode control algorithm technique is used to control the longitudinal movement of the vehicle, and the task of controlling the lateral movement of the vehicle is the responsibility of the controller based on model prediction control. The second layer includes an optimal distribution function for allocating rotational torque to the four vehicle tires. In order to consider the real behavior of the vehicle, the nonlinear dynamics of the tire is considered. The proposed control algorithm is analyzed and investigated in different scenarios with different working conditions and critical and emergency conditions. The results of the performed simulations show the optimal and effectiveness performance of the proposed control algorithm. Also, MATLAB/Carsim software is used to validate the performed simulations.