Closed-loop control with optimal tire-force distribution for the horizontal dynamics of an electric vehicle with single-wheel chassis actuators

This paper presents the control strategy and structure for the integrated vehicle-dynamics control of a test vehicle with single-wheel chassis actuators. It uses the degrees of freedom resulting from the over-actuation of the vehicle for an optimization of the tire force distribution. Different objectives are taken into account. The system consisting of optimization, local controllers, and the vehicle itself is considered in total as a nonlinear control plant and linearizised with exact linearization techniques. The resulting linear system is controlled in the 2-degree-of-freedom structure. The test vehicle, the controller, as well as simulation results are presented in this paper.