Conclusion:

However, the response of the proposed driving force control based on PD-Fuzzy controller as a wheel speed controller is better than that of the PI controllers for the same simulation conditions. The simulation outcomes demonstrate that both of PD-Fuzzy controller and PI controllers can achieve yaw moment suppression, anti-slip management, keep the total driving force, and traction control with high performance. Which means stable driving despite road conditions.

REFERENCES

Åström, K. J.,De Wit, C. C. J. I. C. s. m., 2008, Revisiting the LuGre friction model, 28, 6, 101-114.

Bosch, R., Bauer, H., Dipl.-Ing, H. J. S. o. a. e., 2007, „Automotive handbook 7th edition,“, 1192.

Burgess, M. J. L. E., 2009, Torque vectoring.

Burton, D. M., Delaney, A. K., Newstead, S. V., Logan, D., Fildes, B. N., 2004, Effectiveness of ABS and vehicle stability control systems.

Canudas-de-Wit, C., Tsiotras, P., Velenis, E., Basset, M., Gissinger, G. J. V. S. D., 2003, Dynamic friction models for road/tire longitudinal interaction, 39, 3, 189-226.

Chen, Y.,Wang, J. (2010). Energy-efficient control allocation for over-actuated systems with electric vehicle applications. Dynamic Systems and Control Conference.

Chen, Y.,Wang, J. J. I. A. T. o. M., 2013, Design and experimental evaluations on energy efficient control allocation methods for overactuated electric vehicles: Longitudinal motion case, 19, 2, 538-548.

Chiang, W.-P., Yin, D., Shimizu, H. J. J. o. t. C. I. o. E., 2015, Slip-based regenerative ABS control for in-wheel-motor drive EV, 38, 2, 220-231.

Croft-White, M.,Harrison, M. J. V. S. D., 2006, Study of torque vectoring for all-wheel-drive vehicles, 44, sup1, 313-320.

De Novellis, L., Sorniotti, A., Gruber, P. J. S. I. J. o. P. C.-M. S., 2013, Optimal wheel torque distribution for a four-wheel-drive fully electric vehicle, 6, 2013-01-0673, 128-136.

De Wit, C. C.,Tsiotras, P. (1999). Dynamic tire friction models for vehicle traction control.

Proceedings of the 38th IEEE conference on decision and control (Cat. no. 99CH36304), IEEE.

Dizqah, A. M., Lenzo, B., Sorniotti, A., Gruber, P., Fallah, S., De Smet, J. J. I. T. o. I. E., 2016, A fast and parametric torque distribution strategy for four-wheel-drive energy-efficient electric vehicles, 63, 7, 4367-4376.

REFERENCES(continued)

Esmailzadeh, E., Goodarzi, A., Vossoughi, G. J. M., 2003, Optimal yaw moment control law for improved vehicle handling, 13, 7, 659-675.

Ewin, N., 2016, Traction control for electric vehicles with independently driven wheels, Thesis, University of Oxford, s.

Fazelpour, F., Vafaeipour, M., Rahbari, O., Rosen, M. A. J. E. C., Management, 2014, Intelligent optimization to integrate a plug-in hybrid electric vehicle smart parking lot with renewable energy resources and enhance grid characteristics, 77, 250-261.

Foito, D., Guerreiro, M., Cordeiro, A. (2008). Anti-slip wheel controller drive for EV using speed and torque observers. 2008 18th International Conference on Electrical Machines, IEEE.

Forum, I. T. (2011). Transport outlook—Meeting the needs of 9 billion people, Author Paris.

Fujimoto, H.,Harada, S. J. I. T. o. I. E., 2015, Model-based range extension control system for electric vehicles with front and rear driving–braking force distributions, 62, 5, 3245-3254.

Ge, Y.,Chang, C. (2011). Torque distribution control for electric vehicle based on traction force observer. 2011 IEEE International Conference on Computer Science and Automation Engineering, IEEE.

Geng, C., Mostefai, L., Denaï, M., Hori, Y. J. I. T. o. I. E., 2009, Direct yaw-moment control of an in-wheel-motored electric vehicle based on body slip angle fuzzy observer, 56, 5, 1411-1419.

Gillespie, T. D., 1992, Fundamentals of vehicle dynamics, Society of automotive engineers Warrendale, PA.

Goggia, T., Sorniotti, A., De Novellis, L., Ferrara, A., Gruber, P., Theunissen, J., Steenbeke, D., Knauder, B., Zehetner, J. J. I. T. o. V. T., 2014, Integral sliding mode for the torque-vectoring control of fully electric vehicles: Theoretical design and experimental assessment, 64, 5, 1701-1715.

Gu, J., Ouyang, M., Lu, D., Li, J., Lu, L. J. I. J. o. A. T., 2013, Energy efficiency optimization of electric vehicle driven by in-wheel motors, 14, 5, 763-772.

REFERENCES(continued)

Guangcai, Z., Yugong, L., Keqiang, L., Xiaomin, L. (2007). Slip ratio control of independent AWD EV based on fuzzy DSMC. Proc. IEEE Int. Conf. Veh. Electron. Safety.

Hajihosseinlu, A., 2015, Traction control of an electric vehicle with four in-wheel motors.

He, P.,Hori, Y. (2006). Optimum traction force distribution for stability improvement of 4WD EV in critical driving condition. 9th IEEE International Workshop on Advanced Motion Control, 2006., IEEE.

Hori, Y., Toyoda, Y., Tsuruoka, Y. J. I. t. o. I. A., 1998, Traction control of electric vehicle: basic experimental results using the test EV" UOT electric march", 34, 5, 1131-1138.

Hu, J.-S., Yin, D., Hori, Y., Hu, F.-R. J. I. I. A. M., 2011, Electric vehicle traction control: a new MTTE methodology, 18, 2, 23-31.

Jalali, K., Uchida, T., McPhee, J., Lambert, S. J. S. I. J. o. A. P., 2012, Development of a fuzzy slip control system for electric vehicles with in-wheel motors, 1, 1, 46-64.

Jazar, R. N., 2017, Vehicle dynamics: theory and application, Springer.

Jin, L.-Q., Ling, M., Yue, W. J. P. o., 2017, Tire-road friction estimation and traction control strategy for motorized electric vehicle, 12, 6, e0179526.

Kang, J.,Heo, H. (2012). Control allocation based optimal torque vectoring for 4WD electric vehicle, SAE Technical Paper.

Koehler, S., Viehl, A., Bringmann, O., Rosenstiel, W. (2014). Energy-efficient torque distribution for axle-individually propelled electric vehicles. 2014 IEEE Intelligent Vehicles Symposium Proceedings, IEEE.

Lenzo, B., De Filippis, G., Dizqah, A. M., Sorniotti, A., Gruber, P., Fallah, S., De Nijs, W. J. J. o. D.

S., Measurement,, Control, 2017, Torque distribution strategies for energy-efficient electric vehicles with multiple drivetrains, 139, 12.

Li, Y., Deng, H., Xu, X., Jiang, H. (2018). Review on torque distribution strategies for four in-wheel motor drive electric vehicles. IOP Conference Series: Materials Science and Engineering, IOP Publishing.

REFERENCES(continued)

Li, Y., Li, B., Xu, X., Sun, X. J. I. A., 2017, A nonlinear decoupling control approach using RBFNNI-based robust pole placement for a permanent magnet in-wheel motor, 6, 1844-1854.

Liebemann, E., Meder, K., Schuh, J., Nenninger, G. (2004). Safety and performance enhancement: The Bosch electronic stability control (ESP), SAE Technical Paper.

Maeda, K., Fujimoto, H., Hori, Y., 2017, Four-wheel Driving-force Distribution Method for Instantaneous or Split Slippery Roads for Electric Vehicle, Automatika, 54, 1, 103-113.

Manzetti, S., Mariasiu, F. J. R., Reviews, S. E., 2015, Electric vehicle battery technologies: From present state to future systems, 51, 1004-1012.

Martins, F., Felgueiras, C., Smitkova, M., Caetano, N., 2019, Analysis of Fossil Fuel Energy Consumption and Environmental Impacts in European Countries, Energies, 12, 6.

McTrustry, S. C., 2016, Modelling and control of electric vehicles with individually actuated in-wheel motors.

Moore, D. F., 1975, The friction of pneumatic tyres.

Mutoh, N., Hayano, Y., Yahagi, H., Takita, K. J. I. T. o. I. E., 2007, Electric braking control methods for electric vehicles with independently driven front and rear wheels, 54, 2, 1168-1176.

Pacejka, H. B.,Bakker, E., 1992a, THE MAGIC FORMULA TYRE MODEL, Vehicle System Dynamics, 21, sup001, 1-18.

Pacejka, H. B.,Bakker, E. J. V. s. d., 1992b, The magic formula tyre model, 21, S1, 1-18.

Pennycott, A., De Novellis, L., Gruber, P., Sorniotti, A., Goggia, T. (2013). Enhancing the energy efficiency of fully electric vehicles via the minimization of motor power losses. 2013 IEEE International Conference on Systems, Man, and Cybernetics, IEEE.

Pennycott, A., De Novellis, L., Sabbatini, A., Gruber, P., Sorniotti, A. J. P. o. t. I. o. M. E., Part D:

Journal of Automobile Engineering, 2014, Reducing the motor power losses of a four-wheel drive, fully electric vehicle via wheel torque allocation, 228, 7, 830-839.

REFERENCES(continued)

Plumlee, J. H., Bevly, D. M., Hodel, A. S. (2004). Control of a ground vehicle using quadratic programming based control allocation techniques. Proceedings of the 2004 American control conference, IEEE.

Rahman, K. M., Patel, N. R., Ward, T. G., Nagashima, J. M., Caricchi, F., Crescimbini, F. J. I. T. o. I.

A., 2006, Application of direct-drive wheel motor for fuel cell electric and hybrid electric vehicle propulsion system, 42, 5, 1185-1192.

Santucci, A., Sorniotti, A., Lekakou, C. J. J. o. P. S., 2014, Power split strategies for hybrid energy storage systems for vehicular applications, 258, 395-407.

Schinkel, M.,Hunt, K. (2002). Anti-lock braking control using a sliding mode like approach.

Proceedings of the 2002 American Control Conference (IEEE Cat. No. CH37301), IEEE.

Sforza, A., Lenzo, B., Timpone, F. J. I. J. o. M., Control, 2019, A state-of-the-art review on torque distribution strategies aimed at enhancing energy efficiency for fully electric vehicles with independently actuated drivetrains, 20, 2, 3-15.

Sher, E., 1998, Handbook of air pollution from internal combustion engines: pollutant formation and control, Academic Press.

Siampis, E., 2016, Optimal torque vectoring control strategies for stabilisation of electric vehicles at the limits of handling.

Siampis, E., Massaro, M., Velenis, E. (2013). Electric rear axle torque vectoring for combined yaw stability and velocity control near the limit of handling. 52nd IEEE conference on Decision and Control, IEEE.

Tahami, F., Kazemi, R., Farhanghi, S. J. I. T. o. v. T., 2003, A novel driver assist stability system for all-wheel-drive electric vehicles, 52, 3, 683-692.

Tönük, E., Ünlüsoy, Y. S. J. C., Structures, 2001, Prediction of automobile tire cornering force characteristics by finite element modeling and analysis, 79, 13, 1219-1232.

Wang, R., Chen, Y., Feng, D., Huang, X., Wang, J. J. J. o. P. S., 2011, Development and performance characterization of an electric ground vehicle with independently actuated in-wheel motors, 196, 8, 3962-3971.