The four-wheel independent driven electric vehicle (4WID-EV) can easily realize the four-wheel independent drive, which is convenient for the development and design of the direct yaw moment control system (DYC). Based on the theory of ADRC and the sliding mode control, a new type of DYC controller coordinated with the AFS controller using PID method is designed for the 4WID-EV in this paper. The coordinated control work area is divided according to the tire lateral force linear area. An improved particle swarm optimization algorithm which introduces linear decreasing inertia weight and annealing strategy is adopted to obtain the coordination work weight. The effectiveness of the DYC controller is verified by the Simulink simulation. It also shows that the performance is further improved after the coordinated control.
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