Jornadas de Automática, 2 - 4 de septiembre de 2015. BilbaoElectromobility promises to have a strong impact
in several aspects of our life: introducing new
means of transport concepts, proposing new business models and allowing to create new vehicle
configurations impossible with traditional combustion engines. Regarding the latter, this paper
presents a novel torque distribution strategy for a
4 in-wheel electric vehicle which aims to reduce the
total longitudinal slip. The control strategy is designed off-line supported by a simulator and tested
both in simulation (with a different model from the
used for designing) as well as on a real sized prototype. The results show that the total longitudinal
slip is successfully reduced after applying the control strategy and additionally, the radius described
by the vehicle while cornering is slightly closer to
the theoretical Ackerman radius.Ministerio de Economía y Competitividad DPI2013-46912-C2-
