A novel yaw stabilization control system for in-wheel motor driven electric vehicle

This paper proposes a yaw stabilization control system for in-wheel motor driven electric vehicle (EV), which integrates a computational-intelligence (CI) based controller, a sliding mode based training system, and a bang-bang based torque controller. The parameter adjustment coefficient of CI system is trained by using the sliding mode control. Therefore, the controller guarantees the EV movements follow the ideal yaw moving tracks, and alleviates the drawback of chattering occurring in the classical sliding mode control. Moreover, the robustness of systems is improved. Numerical results provided in the paper validate the proposed model and method.