MPC-based slip control for distributed drive electric vehicle

This article proposes a new slip control system for electric vehicles (EVs) equipped with four in-wheel motors. This system uses the nonlinear model predictive control (nonlinear MPC) scheme. To guarantee vehicle safety, the stable region of wheel slip is regarded as the time-domain constraint of the nonlinear MPC. The control objectives cover vehicle safety as well as good longitudinal acceleration performance. In this article, the nonlinear MPC is utilized to solve this complex optimization control problem with constraints. The vehicle safety objective is achieved through the constraint of the stable region of wheel slip, and other objectives are accomplished by adding additional cost functions. The effectiveness of the proposed controller has been verified in the co-simulation environment of CarSim and Simulink, which has significant practical implications.