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<p>A direct yaw moment control (DYC) strategy based on novel robust adaptive nonsingular integral terminal sliding mode control (ANITSMC) is designed for distributed drive electric vehicles. Firstly, a vehicle lateral dynamics model is established considering tire nonlinear characteristics, parameter uncertainty and external disturbance. Then, the nonsingular integral terminal sliding mode surface is designed based on yaw rate and sideslip angle. A novel robust adaptive reaching law based on K-infinity convex function is proposed by dynamic gain adjustment mechanism. The proposed ANITSMC can guarantee finite-time fast convergence and zero tracking error, while reducing chattering and overestimation. Furthermore, a comprehensive torque distribution method is proposed considering stability, power and economy. Based on an improved phase plane method, the weight of each target is dynamically adjusted, achieving the optimal torque distribution of the external yaw moment. Finally, simulation results confirm that the designed control strategy effectively improves the lateral stability of DDEVs under three extreme conditions.</p>

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Adaptive nonsingular integral terminal sliding mode control of direct yaw moment for distributed drive electric vehicles with multi-objective optimization torque distribution

  • 期刊论文

  • 发表日期：

    2026年3月11日

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  • Hongwei Wang,
  • Jinshuo Song,
  • Yuhang Zhang,
  • Xijian Niu

摘要

A direct yaw moment control (DYC) strategy based on novel robust adaptive nonsingular integral terminal sliding mode control (ANITSMC) is designed for distributed drive electric vehicles. Firstly, a vehicle lateral dynamics model is established considering tire nonlinear characteristics, parameter uncertainty and external disturbance. Then, the nonsingular integral terminal sliding mode surface is designed based on yaw rate and sideslip angle. A novel robust adaptive reaching law based on K-infinity convex function is proposed by dynamic gain adjustment mechanism. The proposed ANITSMC can guarantee finite-time fast convergence and zero tracking error, while reducing chattering and overestimation. Furthermore, a comprehensive torque distribution method is proposed considering stability, power and economy. Based on an improved phase plane method, the weight of each target is dynamically adjusted, achieving the optimal torque distribution of the external yaw moment. Finally, simulation results confirm that the designed control strategy effectively improves the lateral stability of DDEVs under three extreme conditions.