ESO-based lateral control for electrical vehicles with unmodeled tire dynamics on uneven road

In this paper, lateral control is investigated for an uneven road driving electrical vehicle subject to unmodeled tire dynamics by an extended state observer (ESO). A bicycle model with unmodeled tire dynamics is used as a lateral system of the vehicle for the lateral control. The ESO based on a generalized super-twisting algorithm is designed to estimate the unmodeled tire dynamics. A nonlinear controller is utilized to track a reference trajectory with lateral position errors and heading errors. Stability on the ESO and the nonlinear controller are analyzed for the lateral system by Lyapunov methods. Experimental results are given to show effectiveness of the proposed control method for electrical vehicles.