Coordinated Attitude Control of Longitudinal, Lateral and Vertical Tyre Forces for Electric Vehicles Based on Model Predictive Control

A novel longitudinal, lateral, and vertical integrated stability control system is proposed for distributed electric vehicle in this paper. The integrated stability control system is based on model predictive control and takes advantage of its multi-objective optimization feature to takes manipulability, stability and comfort requirements into consideration at the same time, and realize the optimal longitudinal $/$ lateral $/$ vertical forces distribution with constraints overall considered. The advantage of the proposed integrated control system is that it can solve the control objective conflict of the cooperative motion control subsystems and the interference of the actuators compared to distributed control system. Finally, the simulation and comparison analysis are given in several different driving conditions under Carsim and Matlab $/$ Simulink environment. Results show that an improvement of over 80 $\%$ in the pitch angle and roll angle is realized compared to the simple control strategy.