Robust reconfigurable control for in-wheel motor vehicles

The paper deals with reconfigurable control of inwheel electric vehicles. Basically the vehicle is controlled alone by the four electric engines mounted in the wheels of the vehicle. The goal is to design a control system with velocity and trajectory tracking ability realized by separate torque generation of the in-wheel motors. In critical driving situations when the yaw moment cannot be established with the four in-wheel engine alone, the high-level controller reconfigures the actuator inputs, thus steering intervention helps to stabilize the vehicle. Moreover, a multi-layer supervisory architecture for integrated control systems is also proposed. The operation of the vehicle is illustrated through a CarSim simulation example.