Speed Control of Four-Wheel Independently Actuated Vehicle based on MPC Algorithm

This paper presents a speed tracking control method based on the model predictive control (MPC) algorithm for the four-wheel independently actuated (FWIA) electric vehicle. In the upper level controller, a switching control law is designed to reduce the impact when the car from acceleration to deceleration or from deceleration to acceleration. To avoid high frequency oscillations in the speed control, acceleration increment input law is designed in the lower level controller. The lower level controller calculates the desired torque using Newton's second law. The validity of the proposed control algorithm is verified using the CarSim/Simulink simulation, and the simulation results of the proposed method under extreme conditions are compared with PI controller, which shows the superiority of the proposed method. Finally, by the vehicle test, the experimental results verify the effectiveness and robustness of the proposed control approach.