Some physical parameters of a hub motor-driven four-wheel electric vehicle will change when the vehicle turns or maneuvers and the parameter change is caused by the change of the driving conditions. An adaptive sliding mode control is proposed in this paper to maintain the vehicle’s stability by compensating for the change of these parameters. The control parameter being adapted is the converging rate of the system state towards the sliding mode. As the Lyapunov method is used, so both the vehicle stability and adaptive rate convergence are guaranteed. Moreover, the hierarchical control structure is adopted for this vehicle stability control system. The above adaptive sliding model control forms the upper-layer; while the lower-layer control is to distribute the upper torque to the four wheels in an optimal way, subject to several constraints. In addition, the best feasible reference of the yaw rate and the vehicle side slip angle are obtained and used in the control system. The developed method is simulated under the CarSim/MATLAB co-simulation environment to evaluate the system performance. The simulation results are compared with the non-adaptive existing sliding mode control, and show that the proposed method is superior under different conditions.

中文翻译：

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四轮毂电动汽车横向稳定性的自适应滑模控制

当车辆转弯或操纵时，轮毂电动机驱动的四轮电动车辆的某些物理参数将发生变化，并且该参数变化是由行驶条件的变化引起的。本文提出了一种自适应滑模控制，通过补偿这些参数的变化来保持车辆的稳定性。所适配的控制参数是系统状态朝滑模的收敛速度。由于使用了Lyapunov方法，因此可以保证车辆稳定性和自适应率收敛。此外，该车辆稳定性控制系统采用分级控制结构。上面的自适应滑模控制形成了上层。下层控制是将上扭矩以最佳方式分配到四个车轮，但要遵守一些约束条件。另外，获得了横摆率和车辆侧滑角的最佳可行参考，并将其用于控制​​系统。在CarSim / MATLAB协同仿真环境下对开发的方法进行仿真，以评估系统性能。仿真结果与现有的非自适应滑模控制进行了比较，结果表明，该方法在不同条件下均具有优越性。