Observer-Based Discrete-Time Cascaded Control for Lateral Stabilization of Steer-by-Wire Vehicles With Uncertainties and Disturbances
Observer-Based Discrete-Time Cascaded Control for Lateral Stabilization of Steer-by-Wire Vehicles With Uncertainties and Disturbances
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DOI：
10.1109/tcsi.2023.3276945
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发表时间：
2023-08
期刊：
影响因子：
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通讯作者：
Jing Zhao;Kaiheng Yang;Yucong Cao;Zhongchao Liang;Wenfeng Li;Z. Xie;P. Wong
中科院分区：
文献类型：
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作者：
Jing Zhao;Kaiheng Yang;Yucong Cao;Zhongchao Liang;Wenfeng Li;Z. Xie;P. Wong
本文提出了一种基于观测器的离散时间级联控制 (ODCC) 策略，用于考虑不确定性和干扰的线控转向 (SbW) 车辆的横向稳定。首先，针对侧滑角和偏航角速度的观测，设计了基于信息融合的无迹卡尔曼滤波器（IFUKF），以减少参数变化带来的负面影响；其次，为了消除SbW车辆横向稳定控制变量的误差，提出了离散时间滑模预测控制（DSMPC）来处理匹配和不匹配的不确定性和输入约束；第三，为了减少实际前轮转向角与DSMPC产生的期望前轮转向角之间的跟踪误差，提出了一种离散时间快速终端滑模和自抗扰控制相结合的方法来解决SbW系统中的参数不确定性和扰动问题。通过软件在环和硬件在环两种方式进行性能评估，以检验ODCC策略的可用性和实用性。
This article proposes an observer-based discrete-time cascaded control (ODCC) strategy for lateral stabilization of Steer-by-Wire (SbW) vehicles with consideration of uncertainties and disturbances. First, for the observation of the sideslip angle and yaw rate, an information fusion-based unscented Kalman filter (IFUKF) is designed to reduce the negative effect from the variation of the parameters; Second, aiming to eliminate the errors of control variables for lateral stabilization of SbW vehicles, a discrete-time sliding mode predictive control (DSMPC) is presented to deal with matched and mismatched uncertainties and input constraint; Third, to reduce the tracking error between the actual front wheel steering angle and the desired one generated by the DSMPC, a combination of discrete-time fast terminal sliding mode and active disturbance rejection control is proposed to tackle the problems of parameter uncertainties and disturbances in the SbW system. Performance evaluations are conducted via both software-in-the-loop and hardware-in-the-loop to examine the availability and practicability of the ODCC strategy.