A robust wheel slip control design for in-wheel-motor-driven electric vehicles with hydraulic and regenerative braking systems

A robust wheel slip ratio controller for in-wheel-motor-driven electric vehicles equipped with both hydraulic anti-lock braking systems (ABS) and regenerative braking (RB) systems is designed in this paper. Based on an integration of optimal predictive control design and Lyapunov theory, the issue of uncertain vehicle parameters is addressed. The corresponding braking torque distribution strategy between the RB and hydraulic braking (HB) is also introduced to achieve smooth regulation of the brake torque, such that the pedal pulsating effect of the traditional ABS system can be relieved. By utilizing the larger working range of the HB system and the higher bandwidth of the RB system, a better wheel slip ratio control performance can be obtained. The effectiveness of the proposed control system has been validated in Matlab/Simulink simulations.