Robust Reconfigurable Control for In-Wheel Electric Vehicles

The paper presents the control design of a vehicle, which is driven by four independently driven inwheel electric motors and steered by the steering system. The direction of the vehicle is based on the steering, while driving and braking are based on the electric motors. Since the direction can also be modified by the appropriate operation of the four electric motors, reconfigurable and fault-tolerant control systems can be designed. When a vehicle skids, or a failure occurs in one of the electric motors or in the steering, the reconfigurable control is activated. The reconfigurable control is realized based on robust LPV control design methods, in which performance degradations and fault scenarios are also built. The operation of the designed control system is demonstrated in a CarSim simulation environment.