Design of an Multiple Adaptive Sliding Mode Controller for Improving Handling Performance of 4-In-Wheel-Motors Driven Electric Vehicle: Presented at EVS 31 EVTeC 2018, Kobe, Japan, October 1 - 3, 2018

摘要

This study presents a advanced motion control, based on robust side-slip angle control to improve handling performace of in-wheel-motor driven electric vehicle by adopting torque vectoring technology. Multiple adaptive sliding mode controller (MASMC) is designed to robust motion control. In control 6design, the stability of entire control system is proved by Lyapunov stability theory. Also most of electric vehicles are overactuated system which have redundant problem. To solve this problem, we make the equalization of workloads of each wheel based on friction circle. Finally, we show that simulation results which are related to handling performance, robustness and redundant by using CarSim and Matlab/Simulink environment.