Adaptive Integral Terminal Sliding Mode Control to Improve Maneuverability of Electric Vehicle Considering Rollover and Inputs Saturation

Abstract

As vehicles approach or exceed safety thresholds, their dynamics may deteriorate, potentially causing rollovers. In such circumstances, control inputs frequently encounter saturation. This article concentrates on enhancing vehicle maneuverability and preventing rollovers under input saturation constraints. A composite control structure is established to address saturation situations when control inputs approach or reach their unknown boundaries, ensuring improved control performance. Specifically, an adaptive integral terminal sliding mode controller, combined with a torque distribution strategy, is designed to align the controlled vehicle with a reference model while managing input saturation. Furthermore, an active suspension system is implemented to stabilize load transfer effects and prevent rollovers. The proposed control strategy are validated through hardware-in-the-loop (HiL) tests. Specifically, in the fishhook test and the S-curve test, the mean square errors (mse) of the difference between the ideal value and the yaw rates are 6.852E-4 and 6.464E-4, respectively. Additionally, the load transfer ratios (LTRs) mse are 1.970E-3 and 1.940E-3. These results indicate that the AITSMC protocol consistently outperforms conventional controllers.