Active shimmy control method for electric vehicles based on extended Kalman filtering and homogeneous domination control

The front-wheel shimmy phenomenon of electric wheel-driven vehicles is one of the key factors affecting vehicle handling stability and driving safety. In particular, under high-speed driving or complex road conditions, shimmy may lead to difficulties in vehicle control and even cause safety accidents. To address this issue, this article proposes an active shimmy control method for electric wheel-driven vehicles based on the extended Kalman filter and homogeneous domination control theory, which is called EKF-HDC. First, a 4-degree-of-freedom shimmy dynamics model of the electric wheel is established. The system dynamic differential equations are derived using the Lagrangian method, and the corresponding state-space equations of the shimmy control system are formulated. Second, a homogeneous state feedback controller is first designed, and Lyapunov stability analysis is employed to prove that the controller can globally asymptotically stabilize the front-wheel shimmy control system. Third, considering some states of the shimmy system being unknown in practical applications, an extended Kalman filtering observer is developed to estimate the unmeasured states in real time, thereby improving control accuracy. Numerical simulations were conducted to validate the effectiveness of the proposed method. Finally, experiments were performed on a self-designed shimmy test bench, confirming the engineering applicability of the proposed approach.