Dynamic Handling Characteristics Control of an in-Wheel-Motor Driven Electric Vehicle Based on Multiple Sliding Mode Control Approach

This paper presents an advanced motion control method based on the multiple adaptive sliding mode control (MASMC) approach used in torque vectoring technology to improve the handling performance of fully electric vehicles. During cornering, a driver can reduce their handling manipulation effort via torque vectoring, implying that the vehicle has a large side-slip angle. In control design, MASMC has a cascade structure for the safety system. Additionally, for robust control, adaptive sliding mode control is used to address the problem of varying parameters. The stability of the entire control system is proved by Lyapunov stability theory. Moreover, optimal torque distribution, which is based on the minimization of actuator redundancy, is proposed in this paper to avoid the excessive saturation of the actuator. The effectiveness of the proposed MASMC is tested using CarSim and a MATLAB/Simulink environment. It is confirmed that the handling manipulation effort is reduced by more than 60% in comparison to that without any control, and it is also reduced by approximately 40% compared to a conventional control method. Moreover, because of the parameter adaptation effect, the unnecessary chattering of in-wheel-motor torque is decreased.