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For the stability control problem of distributed four-wheel-drive electric vehicles under extreme conditions， considering the influence of sensor noise of yaw rate， lateral and longitudinal acceleration， as well as the estimation error of slip angle， a phase plane stability domain division method based on extension theory and an adaptive Tube-based Model Predictive Control algorithm （ATMPC） are proposed to quickly quantify the stability level of the vehicle and ensure the vehicle driving stability while maintaining tracking accuracy. The designed vehicle yaw stability control system utilizes hierarchical design architecture. The upper layer employs the extension theory to associate the vehicle slip angle-yaw rate phase plane with extension control domain and determines the control domain based on the actual vehicle state and calculates the dependent function to realize the decision-making of the control target weights and modes of the lower layer's Tube-MPC. The lower layer utilizes Tube-MPC to track the desired vehicle slip angle and yaw rate， enabling precise decision-making regarding the yaw moment， and adopts the tire loading ratios optimization method for the allocation of the yaw moment. The control strategy is validated by Carsim/Simulink co-simulation. The results show that the proposed control framework and ATMPC strategy can significantly enhance the driving stability of vehicles in extreme conditions and improve robustness in noisy environments， outperforming traditional MPC.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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