Abstract: For problems of the commercial vehicle ESC control such as various disturbances existing for the actual vehicle, difficulty to establish an accurate vehicle model, large chattering of traditional sliding mode control, an adaptive sliding mode control (ADSMC) algorithm based on nonlinear disturbance observer (NDOB) is proposed in this paper. Firstly, the disturbances of vehicle modeling is estimated by nonlinear disturbance observer. Then, the radial basis neural network is used to adaptively adjust the key parameters of the sliding mode controller, so as to simplify the parameter adjustment process, reduce sliding mode chattering, and improve control accuracy. Finally, the vehicle model is built in TruckSim and the control strategy model is established in MATLAB. The control algorithm is tested and verified on the electronically controlled pneumatic hardware-in-the-loop test bench. The test results show that the NDOB-ADSMC algorithm has good control precision and can meet the requirements of vehicle ESC control

Key words: vehicle engineering, stability control, adaptive, nonlinear disturbance, sliding control