International Journal of Automotive Technology

, Volume 19, Issue 6, pp 1071–1080 | Cite as

Disturbance Observer-Based Sideslip Angle Control for Improving Cornering Characteristics of In-Wheel Motor Electric Vehicles

  • Hee Seong Kim
  • Young Jin Hyun
  • Kang Hyun NamEmail author


In this paper, a robust sideslip angle controller based on the direct yaw moment control (DYC) is proposed for in-wheel motor electric vehicles. Many studies have demonstrated that the DYC is one of the effective methods to improve vehicle maneuverability and stability. Previous approaches to achieve the DYC used differential braking and active steering system. Not only that, the conventional control systems were commonly dependent on the feedback of the yaw rate. In contrast to the traditional control schemes, however, this paper proposes a novel approach based on sideslip angle feedback without controlling the yaw rate. This is mainly because if the vehicle sideslip angle is controlled properly, the intended sideslip angle helps the vehicle to pass through the corner even at high speed. On the other hand, the vehicle may become unstable because of the too large sideslip caused by unexpected yaw disturbances and model uncertainties of time-varying parameters. From this aspect, disturbance observer (DOB) is employed to assure robust performance of the controller. The proposed controller was realized in CarSim model described actual electric vehicle and verified through computer simulations.

Key Words

Direct yaw moment control Electric vehicle Vehicle sideslip angle Robust control Yaw motion control Disturbance observer 


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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  • Hee Seong Kim
    • 1
  • Young Jin Hyun
    • 2
    • 3
  • Kang Hyun Nam
    • 1
    Email author
  1. 1.School of Mechanical EngineeringYeungnam UniversityGyeongbukKorea
  2. 2.High Performance Vehicle Development Team 1Hyundai Motor CompanyGyeonggiKorea
  3. 3.School of Mechanical and Aerospace EngineeringSeoul National UniversitySeoulKorea

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