The paper discusses novel computationally efficient torque distribution strategies for electric
vehicles with individually controlled drivetrains, aimed at minimizing the overall power …

A Vehicle with multiple drivetrains, like a hybrid electric one, is an over-actuated system that
means there is an infinite number of combinations of torques that individual drivetrains can …

The combination of continuously-acting high level controllers and control allocation
techniques allows various driving modes to be made available to the driver. The driving …

Vehicle handling in steady-state and transient conditions can be significantly enhanced with
the continuous modulation of the driving and braking torques of each wheel via dedicated …

In electric vehicles with multiple motors, the individual wheel torque control, ie, the so-called
torque-vectoring, significantly enhances the cornering response and active safety. Torque …

The safety benefits of torque-vectoring control of electric vehicles with multiple drivetrains
are well known and extensively discussed in the literature. Also, several authors analyze …

As vehicles become increasingly electrified, electrical machines for propulsion can be
divided into many sources making the vehicle highly over-actuated. For over-actuated …

Individually-controlled power trains of fully electric vehicles present an opportunity to
enhance the steady-state and transient cornering response of a car via continuously-acting …

Individually controlled electric motors provide opportunities for enhancing the handling
characteristics and the energy efficiency of fully electric vehicles. Online power loss …

The continuous and precise modulation of the driving and braking torques of each wheel is
considered the ultimate goal for controlling the performance of a vehicle in steady-state and …