What type of study is this?

This is a Experimental Study study (also classified as: Quantitative Study).

September 12, 2025

MPC-based slip control for distributed drive electric vehicle

XZXinyu ZhaoSouth China Agricultural University SLSusu LiuNanjing University of Science and Technology DGDongjie GaoChinese Academy of Sciences

Key Points

The proposed slip control system enhances vehicle safety and acceleration through the stable region of wheel slip.
Using nonlinear model predictive control, the system effectively manages optimization with constraints in real-time scenarios.
The vehicle's performance has been validated through co-simulation in CarSim and Simulink, demonstrating practical implementation benefits.
This approach addresses complex control problems by integrating safety and performance objectives within a single framework.

Abstract

This article proposes a new slip control system for electric vehicles (EVs) equipped with four in-wheel motors. This system uses the nonlinear model predictive control (nonlinear MPC) scheme. To guarantee vehicle safety, the stable region of wheel slip is regarded as the time-domain constraint of the nonlinear MPC. The control objectives cover vehicle safety as well as good longitudinal acceleration performance. In this article, the nonlinear MPC is utilized to solve this complex optimization control problem with constraints. The vehicle safety objective is achieved through the constraint of the stable region of wheel slip, and other objectives are accomplished by adding additional cost functions. The effectiveness of the proposed controller has been verified in the co-simulation environment of CarSim and Simulink, which has significant practical implications.

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