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

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 gen...