Lateral motion stability control based on disturbance estimation for an electric vehicle

摘要

The paper presents a lateral motion stability control method based on disturbance estimation for electric vehicle. The control method considers uncertain disturbances caused by external environment. Firstly, an Electric Vehicle lateral motion tracking control model is constructed. Secondly, in order to deal with the uncertain disturbance in the lateral motion model, a control method is proposed by using a nonlinear disturbance observer-based control approach. The direct Lyapunov function method is used to analyze the global stability of the closed-loop system. The result shows that the output of closed-loop system gradually gravitates towards zero. Simulation results show the effectiveness of the control method with a nonlinear disturbance observer.