Electric vehicles (EVs) with four independent in-wheel motors are classified as over-
actuated systems, granting unprecedented possibilities to meet the total driving torque and …

The coordinated control of vehicle actuators is gaining more importance as new platforms
are becoming available, with chassis endowed with many different actuators that may help …

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 …

The in-wheel-motor-driven electric vehicle is a typical over-actuated system. The actuation
flexibility can be utilized to improve operational efficiency and enhance vehicle motion …

Autonomous vehicles equipped with four independent in-wheel motors bestow salutary
design flexibility and render the system over-actuated. The strategy percolated for torque …

Among the many opportunities offered by electric vehicles (EVs), the design of power trains
based on in-wheel electric motors represents, from the vehicle dynamics point of view, a …

A novel method is proposed and described, which increases the efficiency of an electric
4WD vehicle by dynamically redistributing torque to shift motor operating points toward more …

In-wheel motor-driven vehicle improves the overall performance with its torque vectoring
system, which distributes the torque command of each motor. This paper proposes a novel …

Electric vehicles (EVs) with four individually controlled drivetrains are over-actuated
systems, and therefore, the total wheel torque and yaw moment demands can be realized …

Continuous wheel torque control of fully electric vehicles (FEV) offers potential
improvements in vehicle dynamics and energy efficiency. Various studies have shown …