A Yaw Rate Based Stability Control for Under-Actuated Vehicles

Full electric vehicles (FEVs) are becoming more and more common. For these vehicles, a widely adopted driveline configuration consists in all-wheel drive (AWD) technology realized by independently drive front and rear axles. In this paper, we investigate the possibility of implementing an electronic stability control (ESC) exploiting only front and rear motor torques. The proposed control is robust with respect to friction variation and easily tunable thanks to a control allocation that permits single-input single-output formulation. The allocator is based on a multi-dimensional linearized tire model that accounts for longitudinal and lateral slip. Despite being an under-actuated configuration, incapable of generating arbitrary yaw moments, experimental tests show that this configuration still passes the EU homologation tests for ESC.