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Keywords: Vehicle lateral dynamics Robust control In-wheel motor Electric vehicle Active steering a b s t r a c t This paper presents an integrated optimal dynamics control of four-wheel driving and four-wheel steering (4WD4WS) electric ground vehicles via hierarchical control methodology. In the higher-level design, an LQR controller is proposed to obtain(More)
In this paper, glucose respiratory quotient (RQ)-feedback control was developed for erythromycin production with a recombinant strain Saccharopolyspora erythraea ZL1004. RQ was confirmed to be an ideal online parameter for regulating glucose feed rate. Through feeding glucose to control RQ at 0.85 during 45-100 h and 0.95 during 100-185 h, erythromycin(More)
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