An investigation of stability control strategies for IWTC vehicles

Concerns the stable control of independent wheel torque control (IWTC) electric vehicles. Instead of using brake intervention, the independent wheel traction gives an option to control vehicle stability by controlling wheel torques independently. The control strategy based on tyre information is much better than the control strategies based on body information in terms of sensitivity, effectiveness and capacity for adapting to vehicle speed variation. It was found that not only the feedback gains in the controllers based on body information should depend on the vehicle speed, but the stability region is also dependent on the vehicle speed. For stability control strategies, therefore, the effects of vehicle speed on the feedback gains used in the controllers should be considered