Fuzzy logic based control for electric vehicle with four separate traction drives

This paper presents a detailed modeling and a new control system for electrical traction vehicle with four separate wheel drives. This configuration allows us to improve the operability and thereby safety of vehicles during cornering or under slippery road conditions. With electric motors, it is possible to implement a quick and precise torque control. In order to obtain a better and precise dynamic performance a combined strategy slip-ESP is proposed. Furthermore, a "fuzzy estimator of vehicle speed" which guarantees the reference vehicle speed used in control system is detailed.