Path Tracking of Distributed Drive Electric Vehicle based on Stability Region

Distributed drive electric vehicles with four in-wheel motors as the power sources have been recognized as one of the most potential electric vehicles. The dynamics of distributed drive electric vehicles differ from that of conventional vehicles in that DDEV can break the kinematic constraints inherent in conventional vehicles. The stability regions are graphically presented on the phase plane to demonstrate the advantages of distributed drive electric vehicles. In this paper, the DDEV models are developed for stability region analysis and path tracking; the vehicle models are also validated on a developed DDEV; the path tracking algorithm is finally performed based on the stability region, and the simulation results show the success of the controller.