Decoupling active disturbance rejection trajectory-tracking control strategy for X-by-wire chassis system

Abstract. Due to the inherent dynamic coupling between mechanical components such as the steering system and suspension system, the vertical external input will affect the lateral movement of the chassis, which makes it difficult to track the ideal trajectory when complex excitation conditions exist. To solve the abovementioned problems, the X-by-wire chassis is taken as the research object in this work, and the coupling dynamic model is established. Then, based on proving the reversibility of the coupling dynamic model, a pseudo-linear composite system is proposed to decouple the lateral and vertical signals of the chassis system. Next, the decoupling active disturbance rejection (DADR) trajectory-tracking control strategy is proposed. And a multi-objective optimization method of the bandwidth parameters of the DADR trajectory-tracking controller is proposed according to its convergence conditions. Experiments show that the proposed control strategy can effectively suppress the vehicle roll and yaw motion caused by the lateral–vertical dynamic coupling in the process of trajectory tracking to realize the accurate tracking of the ideal trajectory.