Predictive Sliding Mode Control with Extended State Observer for the High-Speed Vehicles

Considering the strong nonlinearity, fast time-varying and strong coupling dynamic characteristics of the high-speed vehicles (HSV), combining with the fact that the extended state observer (ESO) can effectively observe the total disturbance of the system and the predictive sliding mode controller (PSMC) has strong robustness and the ability to reduce chattering, a predictive sliding mode control method with extended state observer is proposed in this paper. Firstly, the HSV model is simplified for the attack angle control; Secondly, the tracking sliding mode surface is predicted and the sliding mode control law is derived by using the optimized performance index, which will avoid the switching function and reduce chattering effectively; Thirdly, a linear extended state observer (LESO) is designed to observe the parameters perturbation and the total disturbances of the system, the estimated value is compensated into the PSMC. Fourthly, the numerical simulation shows that the PSMC with LESO can track the step instruction of angle of attack stably even if there are parameters deviations and external composite disturbances. In addition, the control amount does not exceed the rudder deflection angle of the actuator, and the chatter phenomenon is effectively alleviated.