Glocal motion control system of in-wheel-motor electric vehicles based on driving force distribution

Utilizing the glocal control concept, this paper presents a novel framework of in-wheel-motor electric vehicle motion control based on driving force distribution. Considering each wheel as a local agent, this paper proposes an appropriate model of driving force dynamics as linear time-varying inter-connected system. Moreover, this paper introduces a new hierarchical structure to attain multi-objectives of motion control. Last but not least, a new hierarchical LQR controller is proposed for driving force tracking. The effectiveness of the proposed system is verified through a simulation of motion control of electric vehicle driven by four in-wheel-motors.