Abstract: With the rapid advancement of new-energy vehicle technologies, distributed-driven architectures have emerged as a paramount enabler of performance breakthroughs, catalyzing intensive research into torque-vectoring control（TVC） and electronic stability control（ESC）. Different from the traditional vehicles, distributed-driven vehicles are demonstrated as an advantageous transportation system with high-precision motion control ability and high reliability stabilization ability. Accordingly, the effectiveness of such advantages requires more efforts to cooperate the TVC and ESC. Motivated by this, this paper respectively formulates the control systems of TVC and ESC based on the multi-agent system theory. Subsequently, with the H_∞ control theory, a design method of a robust cooperative controller for TVC and ESC is proposed, where the driver input, TVC-induced moment and ESC-induced moment are taken into account. Furthermore, based on the stable region analysis, dynamic attenuation factors and weighting functions are introduced to reduce the conservatism of the existing methods, where the TVC and ESC are switched within enable and disable via the judgement of inside or outside of the stable region. Finally, co-simulations are carried out with AVL VSM and Simulink to validate the proposed cooperative strategy under representative maneuvers such as double-lane change, step-steer, and sinusoidal-with-delay. By comparison, under normal conditions, the proposed strategy suppresses superfluous ESC interventions, preserving yaw-rate gain and longitudinal velocity at TVC-dominant levels, whereas in extreme scenarios it recruits ESC to stabilize the lateral motion of vehicles, thereby safeguarding safety.

Key words: electronic stability control(ESC), torque vector control(TVC), distributed-driven vehicles, robust control, multi-agent system