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Mathematical Problems in Engineering
Volume 2017, Article ID 5170492, 15 pages
Research Article

Direct Yaw-Moment Control of All-Wheel-Independent-Drive Electric Vehicles with Network-Induced Delays through Parameter-Dependent Fuzzy SMC Approach

1The National Engineering Laboratory for Electric Vehicles and the Collaborative Innovation Center of Electric Vehicles in Beijing, School of Mechanical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China
2The Department of Multisource Propulsion System, Faculty of Automotive and Construction Machinery Engineering, Warsaw University of Technology (WUT), Narbutta 84, Warsaw 02-524, Poland

Correspondence should be addressed to Wanke Cao; nc.ude.tib@eknawoac

Received 25 August 2016; Revised 20 November 2016; Accepted 20 December 2016; Published 22 January 2017

Academic Editor: Quanmin Zhu

Copyright © 2017 Wanke Cao 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.


This paper investigates the robust direct yaw-moment control (DYC) through parameter-dependent fuzzy sliding mode control (SMC) approach for all-wheel-independent-drive electric vehicles (AWID-EVs) subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC) method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.