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This paper investigates the robust direct yaw-moment control (DYC) through parameter-dependent fuzzy sliding mode control (SMC) approach for all-wheel-independent-drive electric vehicles (AWID-EVs) subject to network-induced delays. AWID-EVs have obvious advantages in terms of DYC over the traditional centralized-drive vehicles. However it is one of the most principal issues for AWID-EVs to ensure the robustness of DYC. Furthermore, the network-induced delays would also reduce control performance of DYC and even deteriorate the EV system. To ensure robustness of DYC and deal with network-induced delays, a parameter-dependent fuzzy sliding mode control (FSMC) method based on the real-time information of vehicle states and delays is proposed in this paper. The results of cosimulations with Simulink® and CarSim® demonstrate the effectiveness of the proposed controller. Moreover, the results of comparison with a conventional FSMC controller illustrate the strength of explicitly dealing with network-induced delays.

This paper deals with the negative effects of the in-vehicle network on the integrated anti-slip control (ASC) and direct yaw-moment control (DYC) of all-wheel-independent-drive electric vehicles (AWID-EVs). In the integrated control design of the modern AWID-EVs, increasing control components, e.g., sensors, controllers, and actuators, are usually connected via an in-vehicle network, such as a controller area network (CAN), rather than the traditional point-to-point communication. However, the application of CAN would also bring about unexpected problems, e.g., signal asynchrony, multiple-package transmission, and signal delay, which may degrade the control performance and even destroy the stability of the system. This paper presents a co-design methodology to deal with all these challenges caused by CAN and guarantees a satisfactory vehicle dynamics performance. First, a hierarchical structure is designed for the integrated ASC and DYC control of AWID-EVs over CAN, and an active torque distribution strategy based on a well-known maximum transmissible torque estimation approach is adopted. Then, a scheduling-based communication idea is introduced to deal with all these problems caused by CAN. Third, a Lyapunov-based pole assignment theory is applied to estimate the parameter values in the scheduling design and to guarantee the satisfactory dynamic performance of the control system. A generalized linear quadratic regulator controller is designed for the system synthesis to ensure the tracking control of the vehicle. Finally, simulations and preliminary hardware-in-loop tests indicate that the proposed co-design methodology can deal with the negative effects of the in-vehicle network and ensure reliable vehicle dynamics performance.INDEX TERMS All-wheel-independent-drive electric vehicle (AWID-EV), anti-slip control (ASC), direct yaw-moment control (DYC), co-design of scheduling and control, controller area network (CAN).

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