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Composite chattering-free discrete-time sliding mode controller design for active front steering system of electric vehicles

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Abstract

In order to reduce the adverse effects of internal uncertainty and external disturbance in the active front steering (AFS) system of electric vehicles, two chattering-free discrete-time sliding mode (CDSM) AFS controllers are proposed in this paper. First of all, the sideslip angle is estimated by constructing a Luenberger observer and a two-degree-of-freedom model-based parameter tuning scheme is proposed to simplify the parameter tuning. On this basis, the first-order disturbance difference is imposed on the CDSM controller to reduce the disturbance estimation error. Secondly, in order to further improve the control accuracy, a generalized proportional integral observer (GPIO) is constructed and its stability is verified by the algebraic equations. Finally, a new composite CDSM controller is obtained with the aid of GPIO to further improve the control performance. The feasibility and effectiveness of the proposed methods are verified by simulations.

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Acknowledgements

This work was supported by the Natural Science Foundation of China (61803185) and the PAPD of Jiangsu Higher Education Institutions.

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Authors and Affiliations

  1. Institute of High-Performance Electrical Machine System and Intelligent Control, Jiangsu University, Zhenjiang, 212013, People’s Republic of China

    Yucheng Zhu & Li Ma

  2. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, 212013, People’s Republic of China

    Li Ma

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  1. Yucheng Zhu
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  2. Li Ma
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Correspondence to Li Ma.

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Zhu, Y., Ma, L. Composite chattering-free discrete-time sliding mode controller design for active front steering system of electric vehicles. Nonlinear Dyn 105, 301–313 (2021). https://doi.org/10.1007/s11071-021-06465-5

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