This contribution describes a real-time model predictive control allocation algorithm for over-
actuated electric vehicles with individually driven wheels. The proposed method allows to …

The scope of this paper is the development of a model predictive control allocation (MPCA)
algorithm for over-actuated electric vehicles with individually steered and driven wheels. The …

This contribution proposes a nonlinear model predictive control allocation algorithm for
control of an over-actuated electric vehicle in challenging driving situations. Based on a …

To improve the vehicle stability of an electric vehicle (EV) with four in‐wheel motors, the
authors investigate the use of a non‐linear control allocation scheme based on model …

In this paper we propose a constrained optimal control architecture to stabilize a vehicle
near the limit of lateral acceleration using the rear axle electric torque vectoring …

A model predictive control (MPC) approach for the integrated control of active front steering
(AFS), direct yaw moment control (DYC) and motor torque allocation in four in-wheel driving …

Propulsion control systems for electrified over-actuated vehicles of ten need to cope with
and exploit redundancies within the drive-train. In addition to optimal utilization of the …

This paper investigates the handling control and stability of an all-wheel-drive vehicle whose
axles are individually equipped with an electric motor connected to an open differential. This …

Active safety systems are of significant importance for autonomous vehicles operating in
safety-critical situations like an obstacle-avoidance manoeuvre with high vehicle speed or …

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 …