Motion Trajectory Control and Robust Control Based on Nonlinear Bicycle Model to Stabilization for In-wheel Motor Electric Vehicle in Emergency Scenario

During the vehicle motion trajectory tracking process, there are uncertainty considerations in vehicle modeling, including parameter changes, modeling error, and external disturbance that have a significant effect on the tracking performance. Therefore, in this research, a control strategy for motion trajectory tracking of the in-wheel motor electric vehicle, which has a high capability, is proposed. At first, a dynamic model with two degrees of freedom is used to create a trajectory tracking error model, and then it becomes the problem of tracking yaw. Therefore, the amount of the steering angle as the input of the controller is obtained by controlling yaw tracking. In order to estimate and compensate the uncertainties related to the system, in this research, the design the nonlinear mode observer is applied. And also, the controller algorithm is designed to detect yaw tracking. In the next step, in order to stabilize the in-wheel electric vehicle, a sliding mode control algorithm is designed to achieve the desired yaw torque. Then, by designing the optimal torque distributor, the optimal force of the tires is allocated. Finally, simulation is done using Simulink Matlab/Carsim software. The results of the performed simulations show the performance and high capabilities of the proposed control algorithm in emergency situations and despite external disturbances.