H ∞ Control of Four-Wheel-Independent-Drive Electric Vehicles with Random Time-Varying Delays

Abstract

The random time-varying delays would reduce control performance and even deteriorate the EV system. To deal with random time-varying delays and achieve a real-time steady-state response, considering randomness of delay and a rapid response, an H ∞ -based delay-tolerant linear quadratic regulator (LQR) control method based on Taylor series expansion is proposed in this paper. The results of cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller through the control performance of yaw rate, sideslip angle, and the running track. Moreover, the results of comparison with the other controller illustrate the strength of explicitly.