摘要：AbstractWe present a robust rate-based model predictive control (rate-based MPC) for controlling electric vehicle (EV) with independently actuated wheels and anti-squat/lift/dive suspensions that achieves drivability, i.e., good tracking performance, improved passenger comfort, i.e., reduction of chassis lift, pitch, and roll, and increased vehicle lateral stability. The controller is validated in closed-loop with CarSim demonstrating robustness to model errors between the high-fidelity CarSim simulation and the control-oriented prediction models.
关键词：KeywordsElectric VehicleChassis ControlModel Predictive ControlRobust control
