Coordinated Control of AFS and DYC Using A Novel Disturbance Observation Sliding Mode Considering Unknown Lateral Wind Disturbances

To ensure the stability of the vehicle in the presence of uncertain lateral wind disturbances, this paper introduces a novel active front-wheel steering/direct yaw-moment control (AFS/DYC) hierarchical coordinated control strategy. This strategy is developed based on the disturbance observation principle. By establishing a correlation between real-time disturbance observer observations and stability control, a unique sliding mode surface is created using the disturbance observer. As a result, an adaptive disturbance observation sliding mode control (DOSMC) is proposed to reduce the effect of lateral wind disturbances and maintain the lateral stability of the vehicle. Moreover, an offline interference observer optimized by a particle swarm algorithm is utilized to accurately determine interference values for the AFS/DYC weights allocation. This allows for the coordination of additional lateral moments between AFS and DYC, considering factors such as the vehicle's interference. To verify the designed control strategy, corresponding simulations were conducted. The results demonstrate that the proposed hierarchical coordinated control strategy can effectively reduce the influence of lateral wind disturbances and fully harness the advantages of the AFS/DYC control system.