Title: An adaptive sliding mode control for four-wheel hub electric vehicle yaw stability control

Authors: Yuanjie Ma; Xinglin Zhou; Maoping Ran

Addresses: School of Machinery and Automation, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China ' School of Machinery and Automation, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China ' School of Automobile and Traffic Engineering, Wuhan University of Science and Technology, Hubei, Wuhan, 430081, China

Abstract: This paper aims to improve the stability of four-wheel electric vehicles driven by hub motors. An adaptive sliding mode control (ASMC) is proposed to estimate the additional yaw moment required for stability control system of passenger vehicles. Then the additional yaw moment is distributed to the wheel hub motor through designed optimal distribution controller. The stability of the controller is verified by Lyapunov method. A hierarchical control structure is applied throughout the system. The upper layer is an ASMC, and the lower layer is an optimal distributor for distributing the additional yaw moment to wheels under constraints. The co-simulation between Matlab/Simulink and CarSim shows that the controller suggested in this work performs better in terms of control than traditional sliding mode control (SMC). Moreover, it demonstrates a noteworthy enhancement impact on vehicle stability and driver comfort.

Keywords: distributed drive; sideslip angle estimation; yaw stability control; driving torque distribution; co-simulation.

DOI: 10.1504/IJVD.2025.148150

International Journal of Vehicle Design, 2025 Vol.97 No.2/3/4, pp.273 - 295

Received: 13 Jan 2024
Accepted: 10 Jan 2025
Published online: 27 Aug 2025 *

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