Traction control for multi-actuator driven vehicles: A case study of wheel–track hybrid vehicles

Abstract

This paper explores the traction control of multi-actuator vehicles, focusing on wheel–track hybrid vehicles. Wheel–track hybrid vehicles combine the efficiency of wheeled vehicles with the off-road capabilities of tracked vehicles, offering distinct advantages. A dual-layer traction control system is proposed to enhance the vehicle’s stability across various terrains. The study introduces a universal approach to simplify the allocation of driving forces in multi-actuator systems, which is applied to the traction control of wheel–track hybrid vehicles. This method divides traction allocation into two layers: the first layer distributes driving forces between different types of actuators, while the second layer manages the allocation within the same type of actuator. The approach reduces computational load and is mathematically proven to achieve the same effect as direct traction allocation to all actuators. Experiments validate the effectiveness of the proposed system, demonstrating its ability to optimize performance and energy efficiency, as well as extend the longevity of driving components.