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Mathematical Problems in Engineering
Volume 2015, Article ID 256715, 10 pages
Research Article

A Yaw Stability Control Algorithm for Four-Wheel Independently Actuated Electric Ground Vehicles considering Control Boundaries

1National Engineering Laboratory for Electric Vehicle, Beijing Institute of Technology, Beijing 100081, China
2Pan Asia Technical Automotive Center, Shanghai 201201, China

Received 4 June 2014; Accepted 15 August 2014

Academic Editor: Yuming Qin

Copyright © 2015 Cheng Lin et al. 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.


A hierarchical control algorithm of direct yaw moment control for four-wheel independently actuated (FWIA) electric ground vehicles is presented. Sliding mode control is adopted to yield the desired yaw moment in the higher layer of the algorithm due to the possible modeling inaccuracies and parametric uncertainties. The conditional integrator approach is employed to overcome the chattering issue, which enables a smooth transition to a proportional + integral-like controller, with antiwindup, when the system is entering the boundary layer. The lower level of the algorithm is given to allocate the desired yaw moment to four wheels by means of slip ratio distribution and control for a better grasp of control boundaries. Simulation results, obtained with a vehicle dynamics simulator, Carsim, and the Matlab/Simulink, show the effectiveness of the control algorithm.