Robustified model matching control for motion control of electric vehicle

Electric vehicle with in-wheel motors has remarkable advantage in the quick generation of precise torque on each driving wheel. We propose robustified model matching control to achieve robust control of lateral vehicle motion in such electric vehicle. A vehicle controlled with this method can follow the reference of yaw rate or slip angle, even if the modeling error exists. Vehicle with this control has the performance to reject the disturbance like gust of wind, and is able to accelerate or decelerate on the /spl mu/-split road safely.