Robust Combined Lane Keeping and Direct Yaw Moment Control for Intelligent Electric Vehicles with Time Delay

  • Jinghua Guo
  • Yugong LuoEmail author
  • Chuan Hu
  • Chen Tao
  • Keqiang Li


In order to enhance the tracking performance and improve the stability of intelligent electric vehicles, combined Lane keeping and direct yaw moment control is a good choice. In this paper, an uncertain model of intelligent electric vehicles for combing the lane keeping and direct yaw moment control is deduced, in which time delay and data dropouts are involved. Since the intelligent electric vehicles have the features of time delay and strong uncertainties, a novel robust guaranteed cost combined lane keeping and direct yaw moment control system is constructed to manage the lateral motion of intelligent electric vehicles. The asymptotic stability of combined lane keeping and direct moment control system is verified based on the Lyapunov stability theory. Simulation tests are carried out to demonstrate the feasibility of the proposed control approach, and the results indicate that the presented robust combined control approach can accurately achieve the lane tracking capability, stability and maneuverability of intelligent electric vehicles.

Key Words

Intelligent electric vehicles Lane keeping Direct yaw moment control Combined control Time delay 


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Copyright information

© KSAE 2019

Authors and Affiliations

  • Jinghua Guo
    • 1
  • Yugong Luo
    • 2
    Email author
  • Chuan Hu
    • 3
  • Chen Tao
    • 4
  • Keqiang Li
    • 2
  1. 1.Department of Mechanical and Electrical EngineeringXiamen UniversityXiamenChina
  2. 2.State Key Laboratory of Automotive Safety and EnergyTsinghua UniversityBeijingChina
  3. 3.Department of Mechanical EngineeringUniversity of Texas at AustinAustinUSA
  4. 4.State Key Laboratory of Vehicle NVH and Safety TechnologyChina Automotive Engineering Research Institute Co., LtdChongqingChina

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