The Dynamics of Vehicles on Roads and Tracks 2016
DOI: 10.1201/b21185-17
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Front-to-rear torque vectoring Model Predictive Control for terminal understeer mitigation

Abstract: This paper presents a fault handling strategy for electric vehicles with four individual-wheel drives, which are based on wheel hub motors. The control strategy to handle the faults is based on the principle of control allocation and is implemented in an experimental vehicle. Experimental tests has been performed with the experimental vehicle and with simulation. The results show that the directional stability of such a vehicle can be improved for the analysed manoeuvre and failure mode, and the tendencies of … Show more

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