Finite‐time active shimmy control based on uncertain disturbance observer for electric vehicle with independent suspension

Abstract

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.