Based on Fast Non-Singular Dynamic Terminal Sliding Mode Control for Four-Wheel Independently Driven Electric Vehicle Direct Yaw Moment Control

With the rapid development of new energy vehicles, electric vehicles have increasingly demonstrated their advantages in enhancing energy efficiency and reducing carbon emissions; however, challenges in handling and stability still persist. This paper proposes a direct yaw moment control (DYC) system architecture for four-wheel independently actuated (FWIA) electric vehicles. The system employs a fast non-singular dynamic terminal sliding mode control (FND-TSMC) strategy for the upper layer and a multi-level dynamic weighted axle load coordination control method (MDW-ALCCM) for lower-layer torque distribution. Initially, 7-degree-of-freedom (7-DOF) and 2-degree-of-freedom (2-DOF) vehicle dynamic models are established, and a composite stability analysis method is developed by integrating yaw rate limit boundaries with dynamic adaptive dual-line boundaries to formulate stability criteria under extreme conditions. The upper controller incorporates adaptive weighting coefficients and a feedforward compensation strategy, significantly enhancing response speed and robustness, while the MDW-ALCCM enables optimal torque distribution across normal, warning, and emergency modes. Simulation results demonstrate that the proposed DYC system markedly improves lateral stability, tracking accuracy, and convergence speed in complex driving scenarios such as double lane-change and serpentine maneuvers, providing an efficient and robust solution for electric vehicle stability control with significant implications for practical engineering applications.