Title: An adaptive second-order sliding mode for IWM electric vehicle lateral stability control based on super twist sliding mode observer
Authors: Jialin Li; Di Ao; Lina Lan; Jialin Liu; Rui Xiong
Addresses: School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, China ' Faculty of Science and Technology, University of Macau, Avenida da Universidade, Taipa, Macau, 999078, China ' KH Automotive Technologies Co, Ltd., Changchun, Jilin, 130012, China ' KH Automotive Technologies Co, Ltd., Changchun, Jilin, 130012, China ' School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, China
Abstract: This study proposes an adaptive second-order sliding mode controller (ASOSM) method under the super twist sideslip observer (SMO) to improve the lateral stability of the in-wheel-motor (IWM) electric vehicle. Inspired by existing research, the chattering phenomenon naturally exists in the first-order sliding mode (FOSM) controller. While the high-order sliding mode (SOSM) control needs to know the upper bound of the external perturbations and unmodelled dynamics. Therefore, this research proposes an adaptive method combined with SOSM to solve the aforementioned problems. With the assistance of adaptive law, the control gains can be derived without knowing any information of the uncertainties. Furthermore, the controller robustness is verified by changing tyre parameters and vehicle mass. The co-simulation results of Matlab and Carsim illustrate better control performance with the proposed controller compared with benchmark FOSM and SOSM. Significant improvements in vehicle lateral stability and control efforts are indicated simultaneously.
Keywords: in-wheel motor electric vehicle; lateral stability control; adaptive sliding mode control; super twist observer; robust; high-order sliding mode; co-simulation; external perturbations and unmodelled dynamics.
International Journal of Vehicle Design, 2021 Vol.87 No.1/2/3/4, pp.146 - 169
Received: 01 Aug 2020
Accepted: 22 Apr 2021
Published online: 05 May 2022 *