Abstract
A robust yaw stability control system is designed to stabilize the vehicle yaw motion. Since the vehicles undergo changes in parameters and disturbances with respect to the wide range of driving condition, e.g., tire-road conditions, a robust control design technique is required to guarantee system stability. In this paper, a sliding mode control methodology is applied to make vehicle yaw rate to track its reference with robustness against model uncertainties and disturbances. A parameter adaptation law is applied to estimate varying vehicle parameters with respect to road conditions and is incorporated into sliding mode control framework. The control performance of the proposed control system is evaluated through computer simulation using CarSim vehicle model which proved to give a good description of the dynamics of an experimental in-wheel-motor-driven electric vehicle. Moreover, field tests were carried out to verify the effectiveness of the proposed adaptive sliding mode controller
Highlights
Due to the increasing concerns about advanced motion control of electric vehicles with in-wheel motors, a great deal of research on dynamics control for electric vehicles has been carried out [1]– [5]
Even though field tests are performed at low speed, the effectiveness of the proposed adaptive sliding mode controller is verified through experimental results of
This paper has presented an adaptive sliding mode control method for yaw stability enhancement of in-wheel-motor-driven electric vehicles
Summary
Due to the increasing concerns about advanced motion control of electric vehicles with in-wheel motors, a great deal of research on dynamics control for electric vehicles has been carried out [1]– [5]. In [6], direct yaw moment control based on side slip angle estimation was proposed for improving the stability of in-wheel-motor-driven electric vehicles (IWM-EV). In [11], a vehicle yaw controller via second-order sliding mode technique was designed to guarantee robust stability in front of disturbances and model uncertainties. In order to compensate the disturbances and model uncertainties existing in control law, the adaptive sliding mode control method is applied. By combining with the defined sliding surface, a sliding mode controller is re-designed such that the state (i.e., yaw rate) is moved from the outside to inside of the region, and it remains inside the region even though there are model uncertainties and disturbances, which can be estimated and rejected by adaptation law.
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