Active Disturbance Rejection Control of Trajectory Tracking for Autonomous Distributed Drive Electric Vehicles Considering Energy-Efficiency Characteristics

In this paper, the concept of symmetry is applied to design active trajectory tracking control of autonomous distributed drive electric vehicles considering energy efficiency—that is, the construction and solution of active trajectory tracking controllers are symmetrical. This paper proposes a hierarchical control strategy consisting of upper-level control and lower-level control to improve trajectory tracking accuracy of DDEVs considering energy-efficiency characteristics. In the upper-layer control, a sliding mode active disturbance rejection (ADRC) controller is developed to control the front wheel steering angle and active yaw moment to achieve tracking of the desired trajectory, in which an extended state observer (ESO) is synthesized to estimate and compensate for internal model uncertainties and external environmental disturbances. In the lower-layer control, a multi-objective optimization algorithm based on Karush–Kuhn–Tucker (KKT) conditions is designed to realize the torque distribution control for improving energy efficiency and vehicle stability of the distributed drive electric vehicle. Finally, a joint simulation platform based on Matlab/Simulink-CarSim (version 2019) is established for simulation verification. The performances of ADRC, linear quadratic regulator controller (LQR), and model predictive controller (MPC) are compared in snake-like and double-lane-change maneuvers. Simulation results show that the proposed controller can effectively reduce motor energy consumption while maintaining trajectory tracking accuracy and handling stability. This work provides a certain engineering design solution for motion control of intelligent electric vehicles.