| Research on Stability Controller Design for DDEV Based on Fractional-Order Theory and Super-Twisting Slide Mode Control |
| Yan Ti1,2, Chen Zhu1, Wei Wang1, Yuan Qu2, Tinglun Song2 |
1School of Automotive and Traffic Engineering, Jiangsu University of Technology, Changzhou 213001, China
2Chery Automobile CO., Ltd, Wuhu 241009, China |
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Received: August 21, 2024; Revised: March 19, 2025 Accepted: March 19, 2025. Published online: May 28, 2025. |
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| ABSTRACT |
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To enhance the stability and safety of distributed drive electric vehicles (DDEVs), a new controller named fractional-order super-twisting slide mode controller (FSTSMC) was proposed in this paper. The major contribution of this research is a unified generalized yaw moment and lateral force design utilizing fractional calculus theory in conjunction with super-twisting slide mode control theory. Based on the errors between the desired value and actual value of the vehicle states, the proposed controller was designed to ensure that the vehicle states track the desired values as close as possible, and to eliminate any chattering simultaneously. To verify the performance of the proposed controller, the robustness of FSTSMC was analyzed by comparing with SMC in a closed-loop double lane change manoeuvre with side wind and on a slipper road. The results indicate that FSTSMC can not only continuously control the vehicle but also has strong robustness. Thereafter, real vehicle experiments with different driving conditions were conducted, and the effectiveness of the proposed controller was evaluated. The proposed controller is a meaningful solution to guarantee the stability and safety of DDEVs under different driving conditions, and has high applicability to mass-produced vehicles. |
| Key Words:
Electric vehicles · Distributed hub motor drive · Stability controller · Fractional-order theory · Super-twisting slide mode |
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Corresponding Author.
Yan Ti , Email. 
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