Integral Sliding Mode Control for Four-Wheel Active Steering Based on Kalman Filter Extended State Observer

被引：0
作者：
Deng B. [1 ,2 ]
Li W. [1 ,2 ]
Wu D. [1 ,2 ]
Zhang B. [1 ,2 ]
Zhao H. [1 ,3 ]
机构：
[1] Anhui Key Laboratory of Digit Design and Manufacture, Hefei
[2] Department of Vehicle Engineering, Hefei University of Technology, Hefei
[3] Department of Mechanical Engineering, Hefei University of Technology, Hefei
来源：
Qiche Gongcheng/Automotive Engineering | 2024年 / 46卷 / 01期
关键词：
disturbance observer; four-wheel active steering; integral sliding mode control; Kalman filter; steering by wire;
D O I：
10.19562/j.chinasae.qcgc.2024.01.011
中图分类号：
学科分类号：
摘要：
In order to eliminate the influence of parameter uncertainty and external uncertain disturbances on the handling stability of four-wheel steering vehicles，a nonlinear integral sliding mode control method based on kalman filter extended state observer for four-wheel active steering is proposed. Firstly，the kalman filter extended state observer（KFESO）is designed to realize the vehicle state observation and external disturbance estimation，which overcomes the disadvantage of traditional kalman filter algorithm's dependence on high-precision models. Sec⁃ ondly，to reduce the tracking control error of the target ideal state of the vehicle caused by disturbances，the distur⁃ bance observed by KFESO is compensated to the control input. In order to realize global robust control and suppress integral saturation，a nonlinear integral sliding mode control method based on exponential convergence is designed. Finally，hardware in the loop test results indicate that the KFESO has high observation accuracy in the presence of internal and external uncertain disturbances in the system，and the KFESO-ISMC method has excellent anti-interfer⁃ ence performance in controlling the stability of four-wheel active steering compared to LQR and ISMC methods. © 2024 SAE-China. All rights reserved.
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页码：100 / 108
页数：8
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