Lateral Motion Control of In-Wheel Motor EVs via Optimal Energy-Efficient Control Allocation

Sarani, Milad; Mashadi, Behrooz; Majidi, Majid

doi:10.22068/ase.2026.725

Volume 16, Issue 1 (3-2026) ASE 2026, 16(1): 4937-4952 | Back to browse issues page

‎ 10.22068/ase.2026.725

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Sarani M, Mashadi B, Majidi M. Lateral Motion Control of In-Wheel Motor EVs via Optimal Energy-Efficient Control Allocation. ASE 2026; 16 (1) :4937-4952
URL: http://ase.iust.ac.ir/article-1-725-en.html

Lateral Motion Control of In-Wheel Motor EVs via Optimal Energy-Efficient Control Allocation

Milad Sarani

, Behrooz Mashadi

, Majid Majidi

Department of Mechanical Engineering, Qa.C., Islamic Azad University, Qazvin, Iran.

Abstract: (243 Views)

In this paper, a multi-level hierarchical control method for enhancing electric vehicle (EV) stability with four independent in-wheel motors is proposed. In the high-level motion controller, a sliding mode controller is used to calculate the total desired force and yaw moment, and in the low-level control allocation, an optimal energy-efficient control allocation scheme is presented to provide optimally distributed torques for four in-wheel motors. Moreover, both handling performance and energy savings are investigated in this research and evaluated via a co-simulation approach using MATLAB/Simulink, and CarSim. With a torque distribution algorithm based on energy efficiency optimization, the EV is controlled with and without a controller in J-turn and lane change maneuvers. The simulation results show that the proposed torque control system and torque distribution algorithm can maintain stability, reduce energy consumption, and track the desired values of yaw rate and longitudinal velocity of the vehicle in the mentioned maneuvers.

Keywords: control allocation, EV, sliding mode control, stability control

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Type of Study: Research | Subject: Vehicle dynamics, transmission