This paper presents a composite adaptive backstepping robust tracking controller which aims to improve the lateral dynamics stability for an electric vehicle (EV) while considering the uncertain parameters and external disturbances. First, a nonlinear three degree-of-freedom vehicle model is built up to describe the lateral and roll dynamics behaviors of this EV. Then, the projection adaptive control law is developed by combining adaptive backstepping and dynamic surface control techniques, which is expected to make the sideslip angle and the yaw rate approaching the ideal ones as closely as possible. The sufficient conditions for designing such a controller are also derived in the framework of Lyapunov theory to guarantee its asymptotical stability, thus the desirable controller design is devised. Finally, a comparative CarSim–Simulink joint simulation is carried out to verify the effectiveness of the proposed controller under single-lane-change and J-turn maneuvers.

本文提出了一种复合自适应反步鲁棒跟踪控制器，其目的是在考虑不确定参数和外部干扰的情况下提高电动汽车（EV）的横向动力学稳定性。首先，建立一个非线性的三自由度车辆模型来描述该电动汽车的横向和侧倾动力学特性。然后，通过将自适应反步法和动态曲面控制技术相结合来开发投影自适应控制律，从而有望使侧滑角和偏航率尽可能接近理想值。在李雅普诺夫理论的框架中，也得出了设计此类控制器的充分条件，以保证其渐近稳定性，从而设计了理想的控制器设计。最后，