Observe-based Direct Yaw-moment H∞ Control for In-wheel-motored Electric Vehicle

This paper presented a new method for four wheel in-wheel-motored electric vehicle to improve handling and stability with the help of sideslip angle observer and braking force distribution. The first part of this study deals with the full description of the basic theory of vehicle dynamic control system. After that four wheels in-wheel-motored electric vehicle dynamics model, as well as desired dynamic response model were built. Furthermore, direct yaw-moment control (DYC) system, as well as sideslip angle observer and braking force distribution, were also presented. Therein, an observe-based direct yaw-moment H∞ feedback control loop was employed to track the desired dynamic response via braking force distribution between four in-wheel motors. Finally, the open-loop and closed-loop simulation for validation were performed. The results verified that, the proposed vehicle dynamic control system can improve vehicle handling and stability significantly.