Integral Sliding Mode Yaw Control for In-Wheel-Motor Driven and Differentially Steered Electric Vehicles with Mismatched Disturbances

Differential drive assistance steering (DDAS) is an emerging assisted steering mechanism in in-wheel-motor driven (IWMD) electric vehicles, yielded by the differential moment of the front tires in the steering system. DDAS can steer the front wheels when there is no steering power from the driver or the steering motor, and thus can be used as a redundant steering actuator. To realize the yaw control when the active front steering (AFS) entirely …