Robust Yaw Stability Control for In-Wheel Motor Electric Vehicles

This study investigated robust yaw moment control for motion stabilization in four-wheel electric vehicles. A two-degree-of-freedom direct yaw moment control scheme is proposed. An engineering weighting function with embedded engineering specifications is included in the proposed approach. The controller was synthesized and its corresponding properties were studied. A rear-wheel drive in-wheel motor electric vehicle was employed for a practical evaluation of the scheme. Because of the robust control framework, the presented system can overcome model uncertainties, side wind disturbances, and parameter variation problems. Experiments were conducted to illustrate the feasibility and effectiveness of the proposed controller.