Nonlinear lateral motion stability control method for electric vehicle based on the combination of dual extended state observer and domination approach via sampled-data output feedback

Abstract

This paper studies lateral motion stability control method for an electric vehicle (EV) with uncertain disturbances. Aiming to suppress the influence of uncertain disturbances, a novel method based on the combination of dual extended state observer (dESO) and domination approach is proposed. The proposed method enables the designed controller just to adopt a smaller scaling gain than the classic domination method, which is more practical for the controller in engineering. Firstly, a dESO is proposed to estimate the uncertain disturbances of the system. Also, a sampled-data output feedback domination approach is designed to dominate the disturbances by using a scaling gain. Then, the sampled-data output feedback control law is constructed based on the dESO and domination approach called dESOD. Furthermore, the stability analysis is presented to show that the proposed sampled-data controller can guarantee the closed-loop system globally asymptotically stable. Finally, the simulations and experiment results show the effectiveness of the proposed method.

Homogeneous Domination-Based Lateral Stability Control Method for Electric Vehicle Lane Keeping System

“…The integrated control method can improve energy efficiency [16]. Q. Meng et al studied the stability of the EV-DFIM and proposed lateral stability control methods based on the sampled-data control method and direct yaw moment respectively [17,18].…”

Adaptive coordination control strategy for path-following of DDAEV with neural network based moving weight coefficients

“…Based on autonomous steering control, the path-following controller for the distributed drive vehicle was developed in Jiao (2011), which was robust for path-following. The integrated control of the autonomous front-wheel steering and yaw moment was investigated for the path-following control problem of distributed drive vehicle in Chen and Wang (2012), Meng et al (2021) and Chen et al (2018), which showed better dynamic characteristic and tracking accuracy. In Ni and Hu (2017), yaw moment was utilized to control the yaw rate and slip angle of vehicle within a stable area during path-following.…”