<p>In-wheel motor electric vehicles have garnered widespread attention due to their unique advantages. However, the integration of in-wheel motors can lead to a larger unsprung mass in the vehicle, affecting the performance and stability of the steering system. Therefore, this paper proposes a Fuzzy Nonsingular Terminal Sliding Mode Control (F-NTSMC) algorithm aimed at reducing the impact on the steering system and improving the steering performance of the vehicle as well as the robustness of the Electric Power Steering (EPS) system. This algorithm uses the error between the ideal current and the actual current of the assist motor as the control variable, with the output being the voltage to the assist motor. By introducing fuzzy control to obtain dynamic gains, it replaces the fixed gains in traditional nonsingular terminal sliding mode control, effectively suppressing chatter. Additionally, compensation control is introduced to mitigate the effects of extra damping and rotational inertia introduced by the assist motor and transmission mechanism, improving the system’s stability and response speed. Simulation results from CarSim and Simulink demonstrate that, compared to sliding mode control and nonsingular terminal sliding mode control, this algorithm reduces the response time of the EPS by 0.3s, enhances steering performance by 2.4% and 3.13% under different operating conditions, significantly reduces overshoot during steering return at varying speeds, and produces smoother steering return actions. Furthermore, the damping performance and anti-interference capability are greatly improved, yielding better steering performance for the vehicle.</p>