Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 68, Issue 3, Pages 2460-2469Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.2973879
Keywords
Autonomous vehicles; Mathematical model; Vehicle dynamics; Wheels; Safety; Stability analysis; Heuristic algorithms; Autonomous vehicles; disturbance observer; four-wheel-independent-drive (4WID) vehicles; supertwisting sliding mode
Categories
Funding
- National Natural Science Foundation of China [U1664257, 51505436]
- Vehicle Power Specific Research Project of Fundamental Product Innovation Program [JCCPCX201704]
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This article investigates the path following control problem for four-wheel-independent-drive electric vehicles, proposing a supertwisting second-order sliding mode control strategy and a nonlinear disturbance observer technique for better performance in suppressing chattering phenomenon.
In this article, we aim to investigate the path following control problem for four-wheel-independent-drive electric vehicles with consideration of modeling errors and complex driving scenarios. In order to guarantee operational safety and robustness, a supertwisting second-order sliding mode (SOSM) control strategy is employed to suppress the heavy chattering issue existing in the traditional sliding mode control (SMC). To degrade the lumped disturbance, a nonlinear disturbance observer (NDOB) technique is proposed to estimate the disturbance and compensate the modeling error. Then, a composite control strategy, which combines the SMC algorithm and NDOB technique is proposed based on stability analysis of the corresponding closed-loop system. Finally, hardware-in-the-loop experimental results show that the supertwisting SOSM control algorithm with the NDOB technique can achieve better tracking performance and suppress the chattering phenomenon.
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