Table of Contents Author Guidelines Submit a Manuscript
Mathematical Problems in Engineering
Volume 2015, Article ID 245493, 10 pages
Research Article

Control of Four-Wheel-Independent-Drive Electric Vehicles with Random Time-Varying Delays

School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China

Received 12 August 2014; Accepted 15 October 2014

Academic Editor: Jiuwen Cao

Copyright © 2015 Gang Qin and Jianxiao Zou. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The random time-varying delays would reduce control performance and even deteriorate the EV system. To deal with random time-varying delays and achieve a real-time steady-state response, considering randomness of delay and a rapid response, an -based delay-tolerant linear quadratic regulator (LQR) control method based on Taylor series expansion is proposed in this paper. The results of cosimulations with Simulink and CarSim demonstrate the effectiveness of the proposed controller through the control performance of yaw rate, sideslip angle, and the running track. Moreover, the results of comparison with the other controller illustrate the strength of explicitly.