Potential energy analysis and limit cycle control for dynamics stability of in-wheel driving electric vehicle

Compared with the conventional vehicle and the signal motor driving electric vehicle, the in-wheel driving electric vehicle will be a tendency of development because of its unique characters of chassis structure and vehicle manipulation. Based on the nonlinear dynamic model of the four-wheel independent driving electric vehicle, the potential energy analysis for its dynamics stability is given, and the corresponding methods of limit cycle control and direct yaw-moment control are used to improve the handling stability of this vehicle. The dynamics model of this vehicle and the dynamics control model are constructed on MATLAB/Simulink software. Performance of this control method for this vehicle dynamics stability is evaluated.