Direct Yaw-Moment Hinfinity Control of Motor-Wheel Driving Electric Vehicle

The motor-wheel driving electric vehicle can realize the direct yaw-moment control by means of the longitudinal force difference between left and right wheels in order to improve its yaw rate response. Furthermore, the H∞ control is used to determine the longitudinal force difference between left and right wheels in order to restrain the effect of uncertainties such as the parameter perturbation and the model perturbation in order to improve the robustness of the direct yaw-moment control. The simulations of the parameter perturbation and the model perturbation with the step steering angle input show that the proposed control improves the vehicle handling stability under the effect of uncertainties.