For attenuating the shimmy phenomenon appeared in an electric vehicle (EV) with independent suspension, this study proposes a finite-time active shimmy stability control method based on an uncertainty estimation observer. Firstly, a four-degree-of-freedoms shimmy model of an EV with independent suspension is constructed. Secondly, in order to deal with the uncertainties in the shimmy model, a finite-time control method via a non-linear uncertain disturbance observer is proposed. The direct Lyapunov function method is used to analyse the global stability of the closed-loop system, and the results show that the system outputs globally converge to zero. Simulation and hardware-in-the-loop simulation test results verify the built shimmy model and show the effectiveness of the designed control method compared with the sliding mode control method.
Finite-time active shimmy control based on uncertain disturbance observer for electric vehicle with independent suspension
IET Intelligent Transport Systems ; 14 , 13 ; 1835-1844
2021-01-13
10 pages
Article (Journal)
Electronic Resource
English
variable structure systems , time active shimmy control , electric vehicle , designed control method , observers , steering systems , independent suspension , finite-time control method , finite-time active shimmy stability control method , nonlinear control systems , adaptive control , robust control , vehicle dynamics , stability , closed loop systems , uncertain disturbance observer , built shimmy model , control system synthesis , uncertain systems , uncertainty estimation observer , Lyapunov methods , sliding mode control method , four-degree-of-freedoms shimmy model , shimmy phenomenon , direct Lyapunov function method , hardware-in-the-loop simulation test results , global stability , EV , suspensions (mechanical components)
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