Open AccessFinite‐time active shimmy control based on uncertain disturbance observer for electric vehicle with independent suspension
Author(s) -
Meng Qinghua,
Qian Chunjiang,
Hu Chuan,
Sun ZongYao,
Wang Pan
Publication year - 2020
Publication title -
iet intelligent transport systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.579
H-Index - 45
eISSN - 1751-9578
pISSN - 1751-956X
DOI - 10.1049/iet-its.2020.0348
Subject(s) - control theory (sociology) , active suspension , observer (physics) , suspension (topology) , lyapunov function , speed wobble , engineering , lyapunov stability , stability (learning theory) , vehicle dynamics , controller (irrigation) , computer science , control engineering , control (management) , mathematics , automotive engineering , artificial intelligence , actuator , agronomy , physics , classical mechanics , quantum mechanics , nonlinear system , homotopy , machine learning , pure mathematics , biology
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.