Anti-Skid Control of Distributed Drive Electric Vehicle Drive Based on Terminal Sliding Mode

The traditional centralized control algorithm of distributed drive electric vehicle has complex matrix operation, poor real-time torque distribution, and fails to make full use of the structural advantages and fault-tolerant control ability of multi-motor drive. A multi-agent-based drive anti-skid full-order sliding mode control strategy is proposed to solve the problem of four-wheel cooperative control. Taking slip rate as the control target, a four-wheel cooperative control system based on multi-agent is established, and a full-order sliding mode fault-tolerant control strategy is proposed to realize the rapid synchronous control of the slip rates of the four wheels, thereby improving the stability and safety of distributed drive vehicles. The experimental results on the hardware-in-loop platform show that the designed sliding mode controller has faster convergence speed and reduced control signal chattering, resulting in better control performance. Real vehicle tests verify the feasibility of the fault-tolerant control algorithm on hardware equipment and its effectiveness while driving.