High-Agility Maneuvering in Distributed-Drive Electric Vehicles via a Hierarchical Framework
Abstract
Distributed-drive electric vehicles (DDEVs) offer strong agility but face challenges in achieving fast dynamic response and robust stability under demanding conditions. To address this, we propose a hierarchical motion control framework that decouples path-following from attitude stabilization. A fixed-time extended state observer (FTESO) is designed to mitigate disturbance estimation errors from model inaccuracies, while a fractional-order sliding mode control (FOSMC) ensures accurate trajectory tracking. A multi-objective optimization model incorporating dynamic constraints and actuator limits is formulated and transformed into a constrained quadratic programming (QP) problem. Experiments on a 1:5 scaled chassis demonstrator validate the approach, showing a 42% reduction in lateral tracking error and sub-5 ms response time, outperforming state-of-the-art methods.
Fields of Study & Subjects
Vehicle Dynamics and Control Systems
Adaptive Control of Nonlinear Systems
Electric and Hybrid Vehicle Technologies
Publication details
- Journal / source
- IEEE Transactions on Transportation Electrification
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Volume
- 12
- Issue
- 2
- Pages
- 3893–3906
- Publication date
- 12 January 2026
- Language
- EN