Electronic Differential Speed Control for a Four In-Wheel Motors EV Based on a Multi-Agent System

This article introduces the electronic differential system (EDS) for an all-wheel drive (AWD) for an electric vehicle (EV) with four brushless hub-motor. The decentralized algorithm proposed is based on an active disturbance rejection control (ADRC) with the principle of graph theory for a multi-agent system, offering advantages such as fault resistance, fast response times, load distribution, flexibility, and efficiency improvement. This control algorithm allow that each wheel shares its information with the other agents (hub-motors). Furthermore, enabling them to collaborate in team while keep their angular speed reference specified by the Ackermann steering model. This model calculates the angular speed reference for each wheel based on the steering angle and the desired speed for the EV. The MATLAB simulation results show that each agent regulates its speed with differences references of turning, desired speed, and disturbances.