传统滑模控制容易发生抖振，影响了轮毂电机驱动电动汽车差速控制系统的稳定性。针对整车八自由度动力学模型，提出了一种基于协同控制理论的新型电子差速控制器设计方法，解决了控制过程中的抖振现象。该方法以转矩为控制目标，通过构造关于滑移率的广义变量使其以指数形式收敛于最优滑移率处。MATLAB/Simulink仿真结果表明，该新型电子差速控制器具有动态响应快、平滑、稳态特性良好等优点。

Traditional sliding mode control is prone to chattering，which affects the stability of the differential control system of electric vehicle driven by in-wheel motor. A new electronic differential controller design method based on synergetic control theory is proposed for the vehicle′s eight-degree-of-freedom dynamic model to solve the chattering phenomenon in the control process. This method takes torque as the control target, and by constructing a generalized variable about the slip ratio, the controller converges exponentially to the optimal slip ratio point. The MATLAB/Simulink simulation results show that the new electronic differential controller has the advantages of fast dynamic response, smoothness, and good steady-state characteristics.