Cooperative game robust coordination control for distributed electric vehicle under sharply turning roads

As key technologies for distributed electric vehicle (DEV), four-wheel steering (4WS) and four-wheel independent drive (4WID) can effectively enhance the path-tracking accuracy and lateral stability. However, when under a sharply turning road, tire nonlinearity and longitudinal-lateral coupling effects are significantly exacerbated, leading to increased complexity in dynamic modeling. Meanwhile, control objective conflicts between 4WS and 4WID, as well as disturbances including time-varying speed, may reduce lateral stability during precise path-tracking. To address these challenges, we propose a cooperative game robust coordination controller (CGRCC) based on Takagi-Sugeno (T-S) fuzzy. First, a vehicle-road discrete error model considering tire nonlinearity and longitudinal-lateral coupling effects is established based on T-S fuzzy, which precisely captures the dynamic characteristics of individual tires and enhances DEV modeling accuracy. Second, a cooperative game coordination controller is designed based on the dynamic interaction between 4WS and 4WID, achieving multi-actuator collaborative optimization to harmonize the objective coupling conflicts between precise path-tracking and lateral stability. Finally, a fuzzy Lyapunov-based H_∞ disturbance suppressor is developed to mitigate the impact of the disturbances, including time-varying vehicle speed, on system performance. The experimental results show that under large curvature double line changes, CGRCC reduces the path-tracking error by 33.3 %, 48.1 % and 60.3 %, and the lateral speed error by 15.5 %, 16.3 % and 24.6 %, respectively, compared with the comparison controllers, demonstrating the efficacy and preeminence of CGRCC under sharply turning roads.