Research on Vehicle Stability Control Based on a Union Disturbance Observer and Improved Adaptive Unscented Kalman Filter

Abstract

This paper considers external disturbances imposed on vehicle systems. Based on a vehicle dynamics model of the vehicle with three degrees of freedom (3-DOFs), a union disturbance observer (UDO) composed of a nonlinear disturbance observer (NDO) and an extended state observer (ESO) was designed to obtain external disturbances and unmodeled items. Meanwhile, an improved adaptive unscented Kalman filter (iAUKF) with anti-disturbance and anti-noise properties is proposed, based on the UDO and the unscented Kalman filter (UKF) method, to evaluate the sideslip angle of vehicle systems. Finally, a vehicle yaw stability controller was designed based on UDO and the global fast terminal sliding mode control (GFTSMC) method. The results of co-simulation demonstrated that the proposed UDO was effectively able to observe external disturbances and unmodeled items. The proposed iAUKF, which considers external disturbances, not only achieves adaptive updating and adjustment of filtering parameters under different sensor noise intensities but can also resist external disturbances, improving the estimation accuracy and robustness of the UKF. In the anti-disturbance performance test, the maximum estimation error of the sideslip angle of the iAUKF under the three working conditions was less than 0.1°, 0.02°, and 0.5°, respectively. Based on the UDO and the GFTSMC, a vehicle yaw stability controller is described, which improves the accuracy of control and the robustness of the vehicle’s stability control system and greatly strengthens the driving safety of the vehicle.