Development of adaptive direct yaw-moment control method for electric vehicle based on identification of yaw-rate model

An electric vehicles which is equipped with the in-wheel motors have an advantages in terms of control. For example, by generating different torques at the left and right wheels, the vehicle stability in cornering can be improved. This is called the direct yaw moment control method. In this paper, adaptive direct yaw moment control based on identification of yaw rate model is proposed for electric vehicles. In practical point of view, the incorrect yaw rate model causes the uncertainty to the reference yaw rate. Because the direct yaw moment is determined for tracking that uncertain reference yaw rate, the lateral motion of the vehicle cannot be desirable one. To solve this problem, the identification of the yaw rate model is considered. Therefore, the identified yaw rate model provides the yaw rate for the direct yaw moment method so that the vehicle follows the desired dynamic model. The simulation results show the possibility of the proposed methods.