Robust Path Tracking Control of Distributed Driving Six-Wheel Steering Commercial Vehicle Based on Coupled Active Disturbance Rejection

Abstract

With the advancement of chassis technology, a distributed driving six-wheel steering commercial vehicle chassis (DD-6WS CVC) became useful for enhancing traffic efficiency and facilitating rapid emergency rescue. In the face of harsh, complex working conditions and multiple unknown disturbances, the difficulty of research is determining how to comprehensively integrate the benefits of various subsystems to improve the stability of dynamics. Based on the dynamic model of the DD-6WS CVC, a coupled active disturbance rejection controller (ADRC) is designed to improve the robustness of path tracking in emergency obstacle avoidance. First, the preview path information is optimized by the tracking differentiator (TD), and then the six-wheel steering control quantity is computed using model predictive control (MPC). Using the extended state observer (ESO), the total lateral disturbance is estimated and compensated. Second, the heading state quantity and disturbance estimation value are incorporated into the nonsingular fast terminal sliding mode control (NFT-SMC) so that the direct yaw moment control (DYC) can achieve yaw stability in real time. Finally, the optimal distribution of six-wheel drive torque is completed. Experiments validate the algorithm's effectiveness and high robustness under multiple coupling disturbance. The results demonstrate that, in comparison to MPC and the linear quadratic regulator (LQR), the proposed algorithm has superior control characteristics and effectively enhances the robustness of the DD-6WS CVC in-phase steering path tracking.