Fuzzy-Sliding Mode Control based Yaw Stability Control Algorithm for Four-in-wheel-motor Drive Electric Vehicle

Four-in-wheel-motor drive electric vehicles have become one of the new leading research focuses for current electric vehicles. To take advantage of the benefits of the in-wheel-motor drive electric vehicle, a yaw stability controller is presented by combining fuzzy theory and sliding mode control algorithm for a four-in-wheel-motor drive electric vehicle. Cosimulation dynamical model with speed control of driver for the four-in-wheel-motor drive electric vehicle is built firstly. Then, a yaw stability controller based on fuzzy-sliding mode control algorithm is designed for the four-in-wheel-motor drive electric vehicle. At the same time, the driving torques are distributed to each wheel. Finally, the effectiveness and performance of the model and the yaw stability control strategy are verified and demonstrated by using some typical test scenarios.