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 …

This work addresses the problematic associated with the torque distribution in electric
vehicles endowed with four (4) in-wheel motors (4IWMs). In particular, our efforts will be …

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

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

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 …

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

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

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 …

Control allocation can be used onboard fully electric vehicles in order to maximise the
regenerative power produced during braking manoeuvres. In this study, the efficiency …