Sliding Mode Direct Yaw-Moment Control Design for In-Wheel Electric Vehicles
Abstract
The direct yaw-moment control system can significantly enhance vehicle stability in critical situations. In this paper, the direct yaw-moment control strategies are proposed for in-wheel electric vehicles by using sliding mode (SM) and nonlinear disturbance observer (NDOB) techniques. The ideal sideslip angle at the center of gravity and the yaw rate are first calculated based on a linear two degree of freedom vehicle model. Then, the actual sideslip angle is identified and estimated by constructing a state observer. On this basis, a traditional discontinuous SM direct yaw-moment controller is designed to guarantee that the sideslip angle and the yaw rate will approach the ideal ones as closely as possible. To tackle the chattering problem existing in the traditional SM controller, a second-order sliding mode (SOSM) controller is further designed by taking the derivative of the controller as the new control, which implies that the actual control can be an integration of the SOSM controller. Finally, to avoid the large gains in the derived controllers, by combining the NDOB with the derived controllers, the composite control schemes are also proposed. In comparison with the discontinuous first-order SM controller, the proposed SOSM controller is shown to be more effective.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Various techniques such as higher-order SMC, adaptive SMC, and reaching law method are implemented to overcome the chattering phenomenon.
“Various techniques, such as higher-order SMC, adaptive SMC (ASMC), and reaching law method, are implemented to overcome the chattering phenomenon [23,24].”
From Novel reaching law based predictive sliding mode control for lateral motion control of in‐wheel motor drive electric vehicle with delay estimation (2024) · cites this paper as [24]
Cites
Finite-Time Stability of Continuous Autonomous Systems
Bhat, S. P., & Bernstein, D. S. (2000) · SIAM Journal on Control and Optimization · doi:10.1137/s0363012997321358 · Cited by 5,532 · see citing works
Differential Equations with Discontinuous Righthand Sides
Filippov, A. F. (1988) · Mathematics and Its Applications · doi:10.1007/978-94-015-7793-9 · Cited by 4,720 · see citing works
Disturbance-Observer-Based Control and Related Methods—An Overview
Chen, W., Yang, J., Guo, L., & Li, S. (2015) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2015.2478397 · Cited by 3,005 · see citing works
Sliding Mode Control and Observation
Shtessel, Y. B., Edwards, C., Fridman, L. M., et al. (2013) · Control engineering · doi:10.1007/978-0-8176-4893-0 · Cited by 2,874 · see citing works
A continuous feedback approach to global strong stabilization of nonlinear systems
Qian, C., & Lin, W. T. (2001) · IEEE Transactions on Automatic Control · doi:10.1109/9.935058 · Cited by 1,385 · see citing works
Kiencke, U., & Nielsen, L. (2005) · Springer eBooks · doi:10.1007/b137654 · Cited by 778 · see citing works
Li, H., Yu, J., Hilton, C., et al. (2012) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2012.2202354 · Cited by 726 · see citing works
Disturbance/Uncertainty Estimation and Attenuation Techniques in PMSM Drives—A Survey
Yang, J., Chen, W., Li, S., Guo, L., & Yan, Y. (2016) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2016.2583412 · Cited by 699 · see citing works
Output-Feedback-Based $H_{\infty}$ Control for Vehicle Suspension Systems With Control Delay
Li, H., Jing, X., & Karimi, H. R. (2013) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2013.2242418 · Cited by 519 · see citing works
Extended State Observer-Based Sliding-Mode Control for Three-Phase Power Converters
Liu, J., Vázquez, S., Wu, L., Marquez, A., Gao, H., & Franquelo, L. G. (2016) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2016.2610400 · Cited by 509 · see citing works
Sliding mode control with bounded ℒ 2 gain performance of Markovian jump singular time-delay systems
Wu, L., Su, X., & Shi, P. J. (2012) · Automatica · doi:10.1016/j.automatica.2012.05.064 · Cited by 488 · see citing works
Vehicle Handling Dynamics: Theory and Application
Abe, M., & Manning, W. J. (2009) · Cited by 338 · see citing works
Optimal yaw moment control law for improved vehicle handling
Esmailzadeh, E., Goodarzi, A., & Vossoughi, G. (2002) · Mechatronics · doi:10.1016/s0957-4158(02)00036-3 · Cited by 260 · see citing works
Simple homogeneous sliding-mode controller
Ding, S., Levant, A., & Li, S. (2016) · Automatica · doi:10.1016/j.automatica.2016.01.017 · Cited by 260 · see citing works
Self-citationYang, J., Zheng, W. X., Li, S., Wu, B., & Cheng, M. (2015) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2015.2450736 · Cited by 247 · see citing works
Self-citationSecond-order sliding mode controller design subject to mismatched term
Ding, S., & Li, S. (2017) · Automatica · doi:10.1016/j.automatica.2016.07.038 · Cited by 230 · see citing works
Self-citationIntegrated vehicle dynamics control via coordination of active front steering and rear braking
Doumiati, M., Sename, O., Luc Dugard, A., et al. (2013) · European Journal of Control · doi:10.1016/j.ejcon.2013.03.004 · Cited by 224 · see citing works
Sliding Mode Control for Steer-by-Wire Systems With AC Motors in Road Vehicles
Wang, H., Kong, H., Man, Z., et al. (2013) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2013.2258296 · Cited by 222 · see citing works
Independent wheel torque control of 4WD electric vehicle for differential drive assisted steering
Wang, J., Wang, Q., Jin, L., et al. (2010) · Mechatronics · doi:10.1016/j.mechatronics.2010.08.005 · Cited by 207 · see citing works
Disturbance Observer-Based Antiwindup Control for Air-Breathing Hypersonic Vehicles
An, H., Liu, J., Wang, C., et al. (2016) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2016.2516498 · Cited by 195 · see citing works
Nonsmooth stabilization of a class of nonlinear cascaded systems
Ding, S., Li, S., & Zheng, W. X. (2012) · Automatica · doi:10.1016/j.automatica.2012.06.060 · Cited by 192 · see citing works
Self-citationSecond-Order Sliding Mode Control for Nonlinear Uncertain Systems Bounded by Positive Functions
Ding, S., Wang, J., & Zheng, W. X. (2015) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2015.2448064 · Cited by 162 · see citing works
Self-citationChattering analysis in sliding mode systems with inertial sensors
Fridman, L. M. (2003) · International Journal of Control · doi:10.1080/0020717031000099074 · Cited by 149 · see citing works
Vehicle Yaw Control via Second-Order Sliding-Mode Technique
Canale, M., Fagiano, L., Ferrara, A., et al. (2008) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2008.2003200 · Cited by 146 · see citing works
A Fuzzy Logic Direct Yaw-Moment Control System for All-Wheel-Drive Electric Vehicles
Tahami, F., Farhangi, S., & Kazemi, R. (2004) · Vehicle System Dynamics · doi:10.1076/vesd.41.3.203.26510 · Cited by 143 · see citing works
A novel direct yaw moment controller for in-wheel motor electric vehicles
Chen, Y., Hedrick, J. K., & Guo, K. (2013) · Vehicle System Dynamics · doi:10.1080/00423114.2013.773453 · Cited by 131 · see citing works
Goggia, T., Sorniotti, A., Novellis, L. D., Ferrara, A., Gruber, P., Theunissen, J., Steenbeke, D., Knauder, B., & Zehetner, J. (2014) · IEEE Transactions on Vehicular Technology · doi:10.1109/tvt.2014.2339401 · Cited by 125 · see citing works
Yang, J., Wu, B., Li, S., & Yu, X. (2016) · IEEE Transactions on Circuits and Systems I Regular Papers · doi:10.1109/tcsi.2016.2529238 · Cited by 79 · see citing works
Intelligent Sensorless ABS for In-Wheel Electric Vehicles
Dadashnialehi, A., Bab‐Hadiashar, A., Cao, Z., et al. (2013) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2013.2266085 · Cited by 66 · see citing works
Direct yaw-moment control for 4WID electric vehicle via finite-time control technique
Ding, S., & Sun, J. (2016) · Nonlinear Dynamics · doi:10.1007/s11071-016-3240-0 · Cited by 64 · see citing works
Self-citationApplication of sliding-mode theory to direct yaw-moment control
YOSHIOKA, T. (1999) · JSAE Review · doi:10.1016/s0389-4304(99)00050-8 · Cited by 49 · see citing works
Driving and control of torque for direct-wheel-driven electric vehicle with motors in serial
Xu, P., zhe, H., Guifang, G., et al. (2010) · Expert Systems with Applications · doi:10.1016/j.eswa.2010.06.017 · Cited by 48 · see citing works
Aoki, Y., Uchida, T., & Hori, Y. (2005) · doi:10.1109/iecon.2005.1569320 · Cited by 38 · see citing works
Vehicle parameter estimation and stability enhancement using sliding modes techniques
Shraim, H., Ouladsine, M., Fridman, L. M., et al. (2008) · International Journal of Vehicle Design · doi:10.1504/ijvd.2008.022578 · Cited by 25 · see citing works
Accuracy of Some Popular Non-Homogeneous 2-Sliding Modes
Levant, A., Li, S., & Yu, X. (2013) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2013.2256674 · Cited by 22 · see citing works
Flagged first, then by citations
Cited by
Sorted by citations
Sun, J., Yi, J., & Pu, Z. (2022) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2021.3052610 · Cited by 184 · see citing works
Subroto, R. K., Wang, C. Z., & Lian, K. L. (2020) · IEEE Transactions on Industry Applications · doi:10.1109/tia.2020.2977598 · Cited by 70 · see citing works
Chiliveri, V. R., Kalpana, R., Subramaniam, U., Muhibbullah, M., & Padmavathi, L. (2024) · IET Intelligent Transport Systems · doi:10.1049/itr2.12474 · Cited by 15 · see citing works
Chiliveri, V. R., Kalpana, R., & Lakshmanan, P. (2022) · 2022 IEEE International Conference on Power Electronics, Smart Grid, and Renewable Energy (PESGRE) · doi:10.1109/pesgre52268.2022.9715804 · Cited by 3 · see citing works
- Authors
- Ding, S., Liu, L., & Zheng, W. X.
- Affiliations
- Jiangsu University (CN)
- Western Sydney University (AU)
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2017-08
- Volume
- 64
- Issue
- 8
- Pages
- 6752-6762
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W2595738348
- Cited by
- 414
- References
- 35
- Citations by year
- 2026: 21 · 2025: 37 · 2024: 54 · 2023: 48 · 2022: 37 · 2021: 62 · 2020: 62 · 2019: 57 · 2018: 32 · 2017: 4
- FWCI
- 26.88
- Type
- journal article
- Language
- en
- Open access
- closed
- Locations
- IEEE Transactions on Industrial Electronics (publishedVersion)
- Funders
- National Science Foundation of China (61573170, 61273154)
- China Postdoctoral Science Foundation (2015M571687, 2016T90427)
- Zhejiang Open Foundation of the Most Important Subjects
- Priority Academic Program Development of Jiangsu Higher Education Institutions
- Australian Research Council (DP120104986)
- Topics
- Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Keywords
- direct yaw moment control, sliding mode control, second-order sliding mode control, nonlinear disturbance observer, sideslip angle estimation, yaw rate control, vehicle stability, chattering reduction, composite control
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
