Abstract
The main goal of this paper is to develop a geometry based algorithm to solve the control allocation problem for electric vehicle using in-wheel motors. The proposed method do not require iterative computations, hence the computation effort can be greatly reduced and can be used in real-time application. The theoretical basis and details of the algorithm are discussed this paper. It is also shown that the proposed method also can be used in several other four-wheel drive vehicles. The effectiveness of the proposed control allocation algorithm has been validated by the software tests.
KEYWORDS –In-wheel motor electric vehicle, Control allocation, Real-time algorithm