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Improving EV Lateral Dynamics Control Using Infinity Norm Approach with Closed-form Solution

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Figure

Fig. 1. Bicycle model (left) with combined front lateral and rear lateral tire forces and definition of tire slip angle α (right)
Fig. 4 shows the graphical comparison between ∞ norm and 2 norm optimization criteria in selecting the optimal solution for a problem in R 2
Fig. 5. Steering command signal δ steer ”sine with a dwell” used for the simulation series
Fig. 8. Allocated front and rear tire slip angles α f , α r comparison between 2 norm (left) and ∞ norm (right) allocation approach at a speed of 70km/h and with maximum steering command δ max = 3.25 ◦
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