Nonlinear control of a half electric vehicle including an inverter, an in-wheel BLDC motor and Pacejka’s tire model

The aim of this paper is to design a longitudinal motion controller for electric vehicles (EVs) and hybrid electric vehicles (HEVs) fitted with BLDC (Brushless Direct Current) in-wheel motors (IWMs). The developed controller relies on a highly complex nonlinear model, serving as a foundation for the creation of longitudinal vehicle movement simulators. This model incorporates the different nonlinear factors that arise in normal driving situations, such as rolling resistance, aerodynamic effects, and numerous phenomena occurring at the tire/road contact, which are captured by the Pacejka tire model. The backstepping design approach constitutes the basis of the controller’s design. It has been formally demonstrated that the controller developed achieves its objectives, such as close control of vehicle and driving wheel speeds in longitudinal motion.