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Attenuating noise effect on yaw rate control of independent drive electric vehicle using minimum variance controller

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Abstract

In almost all real-world application such as electric vehicles, system outputs are corrupted by various types of noises. Although the sliding mode controller is a popular controller in the electrical vehicle applications, it is vulnerable to the noisy signals, and even intensify its unwilling effects. In this paper, to eliminate process noise and stabilize the vehicle in noisy conditions, a minimum variance controller is utilized. It is shown that this controller is able to decrease the system output variance, optimally. Besides, it can track yaw rate and velocity reference inputs. Also stability condition is reached. Furthermore, decreasing control signal variance along with output variance is studied in this paper. Finally, the proposed approach is compared with sliding mode controller in noisy condition on four wheel drive electric vehicle which is simulated in MATLAB and CARSIM environments.

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Authors and Affiliations

  1. Department of Electrical Engineering, University of Zanjan, Zanjan, Iran

    Yousef Alipouri

  2. Department of Electrical Engineering, Shabestar Branch, Islamic Azad University, Shabestar, Iran

    Hasan Alipour

Authors
  1. Yousef Alipouri
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  2. Hasan Alipour
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Correspondence to Hasan Alipour.

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Alipouri, Y., Alipour, H. Attenuating noise effect on yaw rate control of independent drive electric vehicle using minimum variance controller. Nonlinear Dyn 87, 1637–1651 (2017). https://doi.org/10.1007/s11071-016-3139-9

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  • DOI: https://doi.org/10.1007/s11071-016-3139-9

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