Distributed Steering Vehicle Tracking Stability Control Strategy with Multi-Actuator Time Delays

The application of distributed steering technology greatly improves vehicle steering performance. However, the increased number of actuators on the CAN network raises network load, inevitably affecting multiple time delays (MTDs) in control signals. As an extreme condition, this will cause severe body buffeting, which will lead to an increase in yaw rate, roll angle, and the risk of sideslip instability. For a distributed steering system, a robust MTDs compensated series control strategy (SCS) is proposed. Aiming at the problem of distributed steering angle allocation of driver input under the influence of time-delay (TD) interference, a hybrid LQR-H∞ robust Pre-tracking controller (PTC) is designed, and the weights of different wheels are designed to introduce H∞ constraints of four wheels into the optimization function to suppress TD interference, ensure the robustness and tracking accuracy of the system. To solve the problem that the network time delay of multiple actuators causes large systems buffeting and amplifying sideslip risk, a rear delay-compensation controller (RDC) is designed. The controller expresses the TD by integral factor which is implicit in the coefficient matrix. The asymptotic stability of the controller is proved. Simulation and experiments show that the proposed control strategy can effectively improve the tracking accuracy, vehicle stability, and robustness of distributed steering vehicles. It also greatly suppress buffeting caused by the network time delay of multiple actuators under different working conditions. All the experimental indicators are improved by more than 26%.