Vehicle stability improvement based on MFC independently installed on 4 Wheels-basic experiments using "UOT Electric March II"

The focus of the authors' research is on exploiting the excellent control characteristics of the electric motor in realizing advanced vehicle motion control. To this end, they have built an electric vehicle (EV) fitted with 4 in-wheel motors. Rapid independent torque control of each motor is realised through a real-time operating system. With this vehicle, the authors performed experiments to verify control methods which they have formulated, e.g., model following control (MFC). The detection of road conditions and wheel-skid are also planned. All these new techniques are possible only on the EV due to its rapid and accurate torque response.