Title: Design of an adaptive sliding mode controller for robust yaw stabilisation of in-wheel-motor-driven electric vehicles

Authors: Kanghyun Nam; Hiroshi Fujimoto; Yoichi Hori

Addresses: Samsung Electronics Co., Ltd., Suwon, Gyeonggi-do, South Korea ' Department of Advanced Energy, The University of Tokyo, Kashiwa, Chiba 277-8561, Japan ' Department of Advanced Energy, The University of Tokyo, Kashiwa, Chiba 277-8561, Japan

Abstract: A robust yaw stability control system is designed to stabilise the vehicle yaw motion. Vehicles undergo changes in parameters and disturbances with respect to the wide range of driving conditions, e.g., tyre-road conditions. Therefore, a robust control design technique is required to guarantee system stability and enhance the robustness. In this paper, a sliding mode control methodology is applied to make vehicle yaw rate to track its reference with robustness against model uncertainties and disturbances. In addition, a parameter adaptation law is also applied to estimate varying vehicle parameters with respect to road conditions and is incorporated into sliding mode control framework. The control performance of the proposed control system was evaluated through field tests.

Keywords: adaptive SMC; sliding mode control; in-wheel motor-driven electric vehicles; yaw stabilisation; controller design; yaw stability control; vehicle yaw motion; robust control; parameter adaptation law; vehicle parameters; road conditions.

DOI: 10.1504/IJVD.2015.066474

International Journal of Vehicle Design, 2015 Vol.67 No.1, pp.98 - 113

Accepted: 05 Mar 2014
Published online: 22 Dec 2014 *

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