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Observer-based lateral stability adaptive control method for distributed drive electric vehicles

Aiming at the lateral instability of distributed drive electric vehicles (DDEV) under extreme conditions, a nonlinear adaptive lateral stability control strategy is designed based on Cubature Kalman filter (CKF) observer and adaptive fuzzy sliding mode control (FSMC) theory. To solve the problem that it is difficult to measure some parameters of road and vehicle state directly, a vehicle state observer based on a double CKF algorithm is designed. The joint sliding mode surface is designed by the deviation between the ideal and observed values of yaw rate and sideslip angle. The SMC algorithm is combined with the adaptive fuzzy algorithm to design an adaptive FSMC to accurately obtain the additional yaw moment of the vehicle. Simulation verification is carried out based on CarSim and MATLAB/Simulink simulation platforms. The results show that the proposed lateral stability adaptive method can effectively improve the robustness of the DYC system.