Nonlinear incremental model predictive control in in-wheels-motored electric vehicles

This paper focuses on yaw stability control of in-wheel-motored electric vehicles (EVs), a nonlinear incremental model predictive control combines the error prediction control is proposed. By inputting a suitable reference model from driver action, the controller output of EV stability tracks the input. So this problem can be described as a tracking problem under constraints. To solve tracking problem, a nonlinear model predictive controller is designed. To solve the dynamics model error, an error predictor is designed. Finally, the nonlinear incremental MPC for EV is verified on simulation platform and simulation results of different steering condition show the benefits of the proposed control strategy.