Anti-slip control or slip ratio control can help improve the stability of EVs on a low-µ road. However, these control methods cannot control the driving torque. In this paper, we propose a driving torque control method for EVs with in-wheel motors. By using this method, we can control the driving torque directly. Simulations and experiments are carried out to demonstrate the effectiveness of the proposed method.
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Yoshimura et al. (2011) studied this question.
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