Control Algorithm for an Independent Motor-Drive Vehicle

A control algorithm is proposed for an independent motor-drive vehicle. A sliding-mode control is designed based on the slip ratio, yaw rate, and lateral acceleration of the vehicle to reduce the motor torque at each wheel. The performance of the control algorithm is evaluated by MATLAB/Simulink–CarSim cosimulation and experiments. A test car with two independent drive motors at the rear wheels is developed. From the simulation and vehicle test, it is found that the control algorithm improves vehicle performance.