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World Electric Vehicle Journal is published by MDPI from Volume 9 issue 1 (2018). Articles in this Issue were published by The World Electric Vehicle Association (WEVA) and its member the European Association for e-Mobility (AVERE), the Electric Drive Transportation Association (EDTA), and the Electric Vehicle Association of Asia Pacific (EVAAP). They are hosted by MDPI on mdpi.com as a courtesy and upon agreement with AVERE.
Open AccessArticle

Design of Adaptive Sliding Mode Controller for Robust Yaw Stabilization of In-wheel-motor-driven Electric Vehicles

1
Department of Electrical Engineering, Hongo Bunkyo-ku Tokyo 113-8656, Japan
2
Department of Advanced Energy, Kashiwa, Chiba, Japan 277-8561
*
Author to whom correspondence should be addressed.
World Electr. Veh. J. 2012, 5(2), 588-597; https://doi.org/10.3390/wevj5020588
Published: 29 June 2012
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Abstract

A robust yaw stability control system is designed to stabilize the vehicle yaw motion. Since the vehicles undergo changes in parameters and disturbances with respect to the wide range of driving condition, e.g., tire-road conditions, a robust control design technique is required to guarantee system stability. 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. A parameter adaptation law is 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 is evaluated through computer simulation using CarSim vehicle model which proved to give a good description of the dynamics of an experimental in-wheel-motor-driven electric vehicle. Moreover, field tests were carried out to verify the effectiveness of the proposed adaptive sliding mode controller
Keywords: adaptive sliding mode control; in-wheel motor-driven electric vehicle; yaw stabilization adaptive sliding mode control; in-wheel motor-driven electric vehicle; yaw stabilization
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Nam, K.; Oh, S.; Fujimoto, H.; Hori, Y. Design of Adaptive Sliding Mode Controller for Robust Yaw Stabilization of In-wheel-motor-driven Electric Vehicles. World Electr. Veh. J. 2012, 5, 588-597.

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