Predefined Time Transient Coordination Control of Power-Split Hybrid Electric Vehicle Based on Adaptive Extended State Observer

This paper proposes a predefined time transient coordinated control strategy based on an adaptive nonlinear extended state observer (ANLESO) to address the adaptability challenges of mode transition control in power-split hybrid electric vehicles (PS-HEVs). Firstly, building upon a conventional dynamic coordinated control framework, the influence of varying acceleration conditions and external disturbances on mode transition performance is analyzed. To enhance disturbance estimation under both positive and negative as well as large and small errors, an ANLESO is developed, which not only improves the speed and accuracy of disturbance observation but also guarantees symmetric convergence performance with respect to estimation errors. Subsequently, a predefined time feedback controller is developed based on the theory of predefined time control. Theoretical stability analysis demonstrates that the convergence time of the system is independent of the initial state and can be guaranteed within a predefined time. Finally, the feasibility and superiority of the proposed control strategy are validated through Hardware-in-the-Loop (HIL) testing and vehicle experimentation. The results show that, compared with PID control based on a linear expansion state observer, the proposed strategy reduces the mode transition time by 45.7% and mitigates drivability shock by 59.2%.