Independent-wheel-drive electric vehicle handling and stability assessment via composite nonlinear feedback controller

This paper presents the comparison of three control schemes for vehicle handling and stability performance that are; the direct yaw moment compensation, an integrated active steering with yaw moment compensation of rear and front steering control. The controller design structure is based on model matching approach in which the Composite Nonlinear Feedback (CNF) control theory is adopted as the control method. The performance of two vehicle dynamic responses (i.e. yaw rate and side slip) are investigated with the consideration of the wheel torque limitation. A lane change maneuver is selected as the simulated driving environment and the simulation is conducted via MATLAB/Simulink platform. Results shows that an integrated control is capable to cope with the system design limitation while the control performance of an independent torque correction approach (i.e. DYC only) is instead limited. Improvements in both desired response and torque demand can be noted, despite the inclusion of design constraint to the system.