Discrete-Time Sliding Mode Based Speed Controller for Electric Vehicle with Four In-Wheel Motors

In this paper, the control of the electric vehicle with in-wheel motor drives is presented. Electric vehicle control is implemented through a drive motor control strategy based on the theory of discrete-time sliding mode. The speed controller is obtained as a combination of discrete-time first order sliding mode control and discrete-time realization of super twisting control algorithm that is commonly used in second-order sliding mode. The design of the proposed speed controller is performed using a discrete-time model of electrical drive. Various tests were performed in Matlab/Simulink software to validate the electronic differential system, vehicle model and engine control algorithm for different types of vehicle movement.