International Journal of Automotive Engineering
Online ISSN : 2185-0992
Print ISSN : 2185-0984
ISSN-L : 2185-0992
Technical Paper
Robust Path Following Control for Small Electric Vehicles Equipped with In-Wheel Motors
- Application to the JSAE-SICE Benchmark Problem No. 3 -
Takatsugu OdaKenichiro NonakaKazuma Sekiguchi
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2017 Volume 8 Issue 3 Pages 120-129


In this paper, it is demonstrated that the proposed robust path following controller enhances maneuverability and stability of small electric vehicles (EVs) equipped with in-wheel motors through the JSAE-SICE benchmark problem No. 3. In order to achieve high maneuverability, maximum tire force is explicitly considered using octagonal approximation. Verifications are conducted using full vehicle model so that the practical vehicle performance is evaluated. In addition to evaluate the total vehicle performance, we apply the controller to all benchmark scenarios and show its maneuverability and stability of small EV are enhanced.

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© 2017 Society of Automotive Engineers of Japan, Inc
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