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<p>This study develops a hierarchical sliding mode control architecture for direct yaw-moment regulation in distributed-drive electric vehicles (DDEVs). The methodology synergizes terminal sliding mode dynamics, fractional-order calculus, and gain-adaptation mechanisms to formulate a chattering-suppressed and fast convergence yaw controller, achieving enhanced trajectory tracking precision while resolving inherent singularity issues. To advance disturbance rejection capabilities, a nonlinear disturbance observer (NDOB) with time-delay compensation is introduced, establishing a compound control architecture that couples the adaptive fractional-order sliding mode controller with real-time disturbance estimation. Validation through hardware-in-the-loop (HIL) simulations under ISO 3888–2 double-lane-change maneuvers demonstrates superior performance: compared to conventional terminal sliding mode (TSM) and non-NDOB variants, the proposed strategy reduces chattering and improves lateral stability margin under uncertain crosswind disturbances.</p>

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A Composite Sliding Mode Control for Distributed Drive Electric Vehicle’s Handling Stability Control

  • 期刊论文

  • 发表日期：

    2026年2月10日

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  • Yang Yu,
  • Yong Chen,
  • Binlong Zhong,
  • Qiqian Jin,
  • Hang Zhao,
  • Wenjun Ruan,
  • Yuguo Xu

摘要

This study develops a hierarchical sliding mode control architecture for direct yaw-moment regulation in distributed-drive electric vehicles (DDEVs). The methodology synergizes terminal sliding mode dynamics, fractional-order calculus, and gain-adaptation mechanisms to formulate a chattering-suppressed and fast convergence yaw controller, achieving enhanced trajectory tracking precision while resolving inherent singularity issues. To advance disturbance rejection capabilities, a nonlinear disturbance observer (NDOB) with time-delay compensation is introduced, establishing a compound control architecture that couples the adaptive fractional-order sliding mode controller with real-time disturbance estimation. Validation through hardware-in-the-loop (HIL) simulations under ISO 3888–2 double-lane-change maneuvers demonstrates superior performance: compared to conventional terminal sliding mode (TSM) and non-NDOB variants, the proposed strategy reduces chattering and improves lateral stability margin under uncertain crosswind disturbances.