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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2025  > In Press, Accepted Manuscript
F. Tarhini, R. Talj, and M. Doumiati, “On analytical modeling for fast multi-objective torque allocation in over-actuated IWM vehicles,” IEEE/CAA J. Autom. Sinica, 2025. doi: 10.1109/JAS.2025.125261
Citation: F. Tarhini, R. Talj, and M. Doumiati, “On analytical modeling for fast multi-objective torque allocation in over-actuated IWM vehicles,” IEEE/CAA J. Autom. Sinica, 2025. doi: 10.1109/JAS.2025.125261
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On Analytical Modeling for Fast Multi-Objective Torque Allocation in Over-Actuated IWM Vehicles

doi: 10.1109/JAS.2025.125261
Funds:  This work is carried out within the framework of the V3EA project “Electric, Energy Efficient, and Autonomous Vehicle” (2021-2025), funded by the Research National Agency (ANR) of the French government
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    Abstract
  • Efficient torque allocation in over-actuated vehicles poses a central challenge in the domain of advanced vehicle control. These vehicles, featuring redundant actuators, provide an exceptional avenue for enhancing performance, stability, and efficiency. This paper presents a pioneering tendency for torque allocation in the context of over-actuated vehicles, particularly in-wheel motor (IWM) driven electric vehicles. We introduce a systematic methodology grounded in analytical modeling, allowing for the efficient reconciliation of multiple, often conflicting objectives. The explicit functions are analytically modeled to enhance stability and energy economy. Additionally, a fuzzy logic-based torque allocation strategy is developed and compared, along with other literature methods, with the analytical models. Simulations are conducted in a joint simulation between Simulink/Matlab and SCANeR Studio vehicle dynamics simulator, followed by validation on a real-world dataset. Our findings elucidate the proficiency of the analytical models on vehicle performance, stability, computational efficiency, and energy consumption.

     

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