Direct yaw-moment control for 4WID electric vehicle via finite-time control technique

This paper is concerned with the yaw-moment stabilization for four-wheel independent-drive electric vehicle. A second-order sliding mode observer is first designed to estimate the required sideslip angle in a finite time. Then, the finite-time control technique and nonlinear disturbance observer are applied to construct the upper controller to drive both yaw rate and sideslip angle to their desired values. Finally, the lower controller is developed to distribute the torques to the independent four wheels according to the desired yaw moment obtained by the given upper controller. Comparisons among linear, discontinuous and nonsmooth controllers under different working conditions are given by using CarSim software.