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首页> 外文期刊>Journal of Systems and Control Engineering >Robust vehicle yaw stability control by active front steering with active disturbance rejection controller
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Robust vehicle yaw stability control by active front steering with active disturbance rejection controller

机译：具有主动扰动抑制控制器的主动前转向稳健车辆偏航稳定性控制

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摘要

Due to the complicated driving conditions, the influence of the external disturbance and the system uncertainty, the traditional active front-steering control methods which are based on the exact mathematical model cannot meet the control requirements. This article presents a new active front-steering control strategy which is based on active disturbance rejection control for vehicle yaw stability control. The proposed controller can dynamically estimate and compensate the total disturbance, which enables it to provide good control performance in a range of conditions without the need for a sophisticated vehicle model. In this article, the implementation of the active disturbance rejection control-based yaw stability controller is introduced in detail, and the convergence of the extended state observer and the stability of the whole controller are theoretically proved. In order to verify the effectiveness of the proposed control strategy, a co-simulation environment is used to carry out real-time simulations on typical driving conditions to verify the performances of the proposed controller. The simulation results show that the proposed controller can effectively improve the yaw stability of the vehicle and has strong robustness.
机译：由于驾驶条件复杂，外部干扰的影响和系统不确定性，基于确切数学模型的传统主动前转向控制方法不能满足控制要求。本文介绍了一种新的主​​动前转向控制策略，基于用于车辆偏航稳定性控制的主动干扰抑制控制。所提出的控制器可以动态估计和补偿总干扰，使其能够在一系列条件下提供良好的控制性能，而无需复杂的车辆模型。在本文中，详细介绍了基于主动扰动抑制控制的偏航控制器的实现，并且理论上证明了扩展状态观察者的收敛性和整个控制器的稳定性。为了验证所提出的控制策略的有效性，使用共模仿真环境在典型的驾驶条件下进行实时模拟，以验证所提出的控制器的性能。仿真结果表明，所提出的控制器可以有效地提高车辆的偏航稳定性，具有强大的鲁棒性。

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