Torque distribution control for electric vehicle based on traction force observer

This paper proposes a torque coordinated control system for four-wheel motor independent drive electric vehicle (EV) in yaw motion, which carries out torque distribution control based on a wheel traction force observer, since it is impossible to measure this force in practice. A computational-intelligence (CI) based controller and a sliding mode based training system are developed to get the reference traction force for each driven wheel. Numerical results validate that the controller guarantees the EV movements follow the ideal yaw moving tracks. The construction of observer is simple and its response is quickly. Moreover, the robustness of systems is improved.