Cruise control of autonomous battery electric vehicle using super twisting sliding mode-based active disturbance rejection control

This paper proposes a novel control scheme for the design of cruise control for an autonomous battery electric vehicle (BEV), based on active disturbance rejection control (ADRC) and super twisting sliding mode control (STSMC) featuring accuracy, and rapid convergence. The central concept is to combine the advantages of STSMC to track the reference trajectory accurately with the ability of ADRC in order to reject the parameter uncertainties and external disturbances. The combination of ADRC and STSMC relaxes the dependency of the controller on the accuracy of the plant model. Compared to the sliding mode control (SMC), adaptive SMC, and fast terminal SMC, the proposed control scheme is independent of the plant model. Simulations are carried out to assess the effectiveness of the proposed control scheme. The simulation results show that the proposed control strategy can significantly reduce the chattering phenomenon, owing to the estimation capability of extended state observer (ESO). The simulation results also show that the proposed strategy is much better in terms of tracking performance than ADRC and proportional integral derivative (PID). The proposed method improves the robustness against modelling errors and disturbances and performs smooth tracking of the reference.