Interacting multiple model state observer-based coordination control of electro-hydraulic composite electronic stability program

In this paper, an electro-hydraulic electronic stability program composite control method is proposed for electric wheeled vehicles based on interacting multiple model state observer. Hydraulic system model, electric-driving wheel model, 2-degrees-of-freedom vehicle reference model and 7-degrees-of-freedom vehicle model are established at the beginning. The necessary state estimations and calculations are also accomplished utilising interacting multiple model unscented Kalman filter. Then, the proposed upper controller calculates the additional yaw moment by fuzzy sliding mode control, and the lower controller distributes the longitudinal force and additional yaw moment based on the quadratic programming optimisation allocation to improve the vehicle handling stability. Finally, using Simulink and CarSim, a joint simulation test platform is established. The simulation results show that the state observer can estimate the driving state parameters accurately enough under various conditions, and coordination control method mentioned in this paper can significantly improve the electric wheeled vehicle's handling stability under extreme conditions.