Adaptive Sliding Mode Steering Control for Dual Independent Electric Drive Tracked Vehicle

An adaptive sliding mode steering control method is proposed for the problem of road surface uncertainty affecting the steering stability of electric drive tracked vehicle. The steering system is resolved into two subsystems: vehicle speed and steering angular speed. Firstly, the vehicle speed controller is designed by combining the extended state observer (ESO) and sliding mode control (SMC). Secondly, the steering angular speed controller is designed by combining the fuzzy logic system (FLS) and sliding mode control (SMC). The ESO and FLS estimate the longitudinal driving resistance and steering resistance moment of the vehicle that are difficult to measure. Substitute the estimated values into the control system to compensate for the influence of external uncertain disturbances and improve vehicle driving stability. The co-simulation results of Matlab+RecurDyn/HM show that the designed controller can achieve stable vehicle steering, effectively improving the speed tracking performance and anti-interference ability of tracked vehicles.