This paper presents a control strategy to enhance the lateral dynamics stability and handling performance of the four-wheel independently actuated (FWIA) electric vehicles (EVs). The vehicle longitudinal velocity uncertainty and controller saturation are considered, a double layers control scheme is adopted. In the upper layer, the homogeneous polynomial parameter-dependent approach is introduced to track the uncertainty problem, and a multi-objective controller is designed to obtain the desired external yaw moment. In the lower layer, an optimal force distribution method with considering the distribution error and tire workload is employed to allocate the desired external yaw moment into forces of the four in-wheel motors. Simulation results verify the effectiveness of the proposed control strategy.

中文翻译：

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齐次多项式方法的四轮独立驱动电动汽车基于速度的横向稳定性控制

本文提出了一种控制策略，以提高四轮独立驱动 (FWIA) 电动汽车 (EV) 的横向动力学稳定性和操纵性能。考虑车辆纵向速度不确定性和控制器饱和，采用双层控制方案。在上层，引入了齐次多项式参数相关的方法来跟踪不确定性问题，并设计了一个多目标控制器来获得所需的外部偏航力矩。在下层，采用考虑分配误差和轮胎工作负荷的最优力分配方法将所需的外部横摆力矩分配到四个轮毂电机的力中。仿真结果验证了所提出的控制策略的有效性。