ESO-based lateral control for electrical vehicles with unmodeled tire dynamics on uneven road

• Published in: Mechanical systems and signal processing Vol. 177; p. 109132
• Main Authors: Yang, Hongjiu, Cheng, Hao, Zuo, Zhiqiang, Li, Hongbo
• Format: Journal Article
• Language: English
• Published: Berlin Elsevier Ltd 01.09.2022; Elsevier BV
• Subjects: Algorithms; Bicycles; Control methods; Controllers; Electric vehicles; Electrical vehicle; ESO; Lateral control; Lateral stability; Nonlinear control; Nonlinear dynamics; Position errors; Stability analysis; State observers; Tires; Unmodeled tire dynamics; Electrical vehicle; ESO; Lateral control; Unmodeled tire dynamics; Nonlinear control
• ISSN: 0888-3270; 1096-1216
• DOI: 10.1016/j.ymssp.2022.109132

In this paper, lateral control is investigated for an uneven road driving electrical vehicle subject to unmodeled tire dynamics by an extended state observer (ESO). A bicycle model with unmodeled tire dynamics is used as a lateral system of the vehicle for the lateral control. The ESO based on a generalized super-twisting algorithm is designed to estimate the unmodeled tire dynamics. A nonlinear controller is utilized to track a reference trajectory with lateral position errors and heading errors. Stability on the ESO and the nonlinear controller are analyzed for the lateral system by Lyapunov methods. Experimental results are given to show effectiveness of the proposed control method for electrical vehicles. •Unmodeled tire dynamics are considered in the electrical vehicle lateral system.•A nonlinear extended state observer is designed to estimate the unmodeled tire dynamics.•A nonlinear controller is proposed for the electrical vehicle to track the reference trajectory.•Experimental results are given to show effectiveness of the developed nonlinear scheme.