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Integral Sliding Mode Control for Four-Wheel Active Steering Based on Kalman Filter Extended State Observer
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Bin Deng1, 2, Weihan Li1, 2, Di Wu1, 2, Bingzhan Zhang1, 2, Han Zhao1, 3
Automotive Engineering | 2024, 46(1) : 100 - 108
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Automotive Engineering | 2024, 46(1): 100-108
• Selected Papers •
Integral Sliding Mode Control for Four-Wheel Active Steering Based on Kalman Filter Extended State Observer
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Bin Deng1, 2, Weihan Li1, 2, Di Wu1, 2, Bingzhan Zhang1, 2, Han Zhao1, 3
Affiliations
  • 1 Anhui Key Laboratory of Digit Design and Manufacture，Hefei　 230009
  • 2 Department of Vehicle Engineering，Hefei University of Technology，Hefei　 230009
  • 3 Department of Mechanical Engineering，Hefei University of Technology，Hefei　 230009
Published: 2024-01-25 doi: 10.19562/j.chinasae.qcgc.2024.01.011
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In order to eliminate the influence of parameter uncertainty and external uncertain disturbances on the handling stability of fourwheel steering vehicles, a nonlinear integral sliding mode control method based on kalman filter extended state observer for fourwheel active steering is proposed. Firstly, the kalman filter extended state observer (KFESO) is designed to realize the vehicle state observation and external disturbance estimation, which overcomes the disadvantage of traditional kalman filter algorithm's dependence on highprecision models. Secondly, to reduce the tracking control error of the target ideal state of the vehicle caused by disturbances, the disturbance observed by KFESO is compensated to the control input. In order to realize global robust control and suppress integral saturation, a nonlinear integral sliding mode control method based on exponential convergence is designed. Finally, hardware in the loop test results indicate that the KFESO has high observation accuracy in the presence of internal and external uncertain disturbances in the system, and the KFESOISMC method has excellent antiinterference performance in controlling the stability of fourwheel active steering compared to LQR and ISMC methods.

four-wheel active steering  /  steering by wire  /  disturbance observer  /  Kalman filter  /  integral sliding mode control
Bin Deng, Weihan Li, Di Wu, Bingzhan Zhang, Han Zhao. Integral Sliding Mode Control for Four-Wheel Active Steering Based on Kalman Filter Extended State Observer[J]. Automotive Engineering, 2024 , 46 (1) : 100 -108 . DOI: 10.19562/j.chinasae.qcgc.2024.01.011
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Article Info
doi: 10.19562/j.chinasae.qcgc.2024.01.011
  • Receive Date：2023-05-28
  • Online Date：2025-07-20
  • Published：2024-01-25
Article Data
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History
  • Received：2023-05-28
  • Revised：2023-06-25
Funding
Affiliations
    1 Anhui Key Laboratory of Digit Design and Manufacture，Hefei　 230009
    2 Department of Vehicle Engineering，Hefei University of Technology，Hefei　 230009
    3 Department of Mechanical Engineering，Hefei University of Technology，Hefei　 230009
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