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@article{177788,
        author = {Shrikrishna P. Giripunje and Vishal Pimpalkar},
        title = {Electronic Stability Control for Electric Vehicle with Four In-wheel Motors},
        journal = {International Journal of Innovative Research in Technology},
        year = {2025},
        volume = {11},
        number = {12},
        pages = {3703-3709},
        issn = {2349-6002},
        url = {https://ijirt.org/article?manuscript=177788},
        abstract = {An over-actuated system is the electric vehicle with four direct-driven in-wheel motors. For four in-wheel motors, an electronic stability control (ESC) control strategy with three levels is proposed to ensure the best possible distribution of torque. The goal of the gain- scheduled linear quadratic regulator in the first level is to produce the ESC's desired yaw moment command. The second level of control allocation is responsible for distributing the desired longitudinal tire forces in accordance with the yaw moment command and meeting the driver's desire for acceleration and deceleration. To avoid saturating the tire, the associated weighting matrix is constructed using the work load ratio at each wheel. Based on a combined-slip tire model, the third level is slip ratio control (SRC), which is used at each wheel to generate the desired longitudinal tire force. The results of the simulations indicate that the proposed approach can improve the ESC's performance during the test maneuvers. The sine with dwell test is used to examine the SRC's efficacy because the tire model is frequently unknown in practice. If the slip ratio can be maintained in the stable region with the help of the traction control system or anti- lock braking system, it has been discovered that the SRC is not necessary to achieve performance similar to that of the proposed method with SRC.},
        keywords = {Optimal torque distribution, Electronic stability control, Linear quadratic regulator, Electric vehicle, In-wheel motor, Control allocation, Slip ratio control},
        month = {May},
        }