The sliding mode control based on extended state observer for skid steering of 4-wheel-drive electric vehicle

Skid steering of 4-wheel-drive electric vehicles has good maneuverability and mobility as a result of the application of differential torque to wheels on opposite sides. For path following, the paper utilizes the techniques of sliding mode control based on extended state observer which not only has robustness against the system dynamics not modeled and uncertain parameter but also reduces the switch gain effectively, so as to obtain a predictable behavior for the instantaneous center of rotation thus preventing excessive skidding. The efficiency of the algorithm is validated on a vehicle model with 14 degree of freedom. The simulation results show that the control law is robust against to the evaluation error of parameter and to the variation of the friction force within the wheel-ground interaction, what´s more, it is easy to be carried out in controller.