Cooperative control of slip rate of distributed drive electric vehicles based on modularization and multi-agent

To solve the drive slip prevention problem of distributed drive electric vehicles under extremely complex road conditions, this paper proposes a multi-agent body distributed control method based on modularized architecture. Firstly, the modular approach is used to reconstruct the whole vehicle structure, consider each hub motor wheel as an independent agent, and establish the slip rate model of each wheel agent. Then, a distributed model predictive control method based on multi-agent is designed to solve the drive anti-slip problem considering multi-constraints and multi-objectives. Finally, the anti-slip performance is verified by simulation under low adhesion and split road conditions. The results show that the distributed control strategy under the modularized architecture can synergistically control the wheels to achieve good anti-slip effect. This provides a theoretical and practical reference for further development of modular vehicle in the future.