Abstract
This study presents a traction control system for electric vehicles with in-wheel motors, based on explicit non-linear model predictive control. The feedback law, available beforehand, is described in detail, together with its variation for different plant conditions. The explicit controller is implemented on a rapid control prototyping unit, which proves the real-time capability of the strategy, with computing times in the order of microseconds. These are significantly lower than the required sampling time for a traction control application. Hence, the explicit model predictive controller can run at the same frequency as a simple traction control system based on Proportional Integral (PI) technology. High-fidelity model simulations provide: i) a performance comparison of the proposed explicit non-linear model predictive controller with a benchmark PI-based traction controller with gain scheduling and anti-windup features; and ii) a performance comparison among two explicit and one implicit non-linear model predictive controllers based on different internal models, with and without consideration of transient tire behavior and load transfers. Experimental test results on an electric vehicle demonstrator are shown for one of the explicit non-linear model predictive controller formulations.