Adaptive Sliding Mode Control for Yaw Stability of Four-Wheel Independent-Drive EV Based on the Phase Plane

Aiming at the yaw stability problem of a four-wheel independent-drive electric vehicle (EV) during steering, this paper proposes an adaptive sliding mode control strategy (ASMC) for based on phase plane. The adopts hierarchical control. upper layer is ASMC controllers particle swarm optimization (PSO). chattering controller, approach law designed as law, which changes with change system state by using principle; to minimize response delay and tracking error, taken object find set optimal parameters constant velocity rate PSO. middle level joint uses established β−β˙ plane region boundary model upper-level jointly. When in stable region, controller used determine moment; when outside final moment determined sideslip angle, restore vehicle. lower torque distribution converts into optimally distributes it four wheels. Finally, Simulink CarSim platforms are simulation. results prove that proposed can effectively reduce error between actual ideal value improve vehicle’s steering.