A Koopman-based approach for torque vectoring in electric vehicles

作     者：Andrea Sassella Basilio Lenzo 

作者机构：Department of Industrial Engineering University of Padua Via Venezia 1 Padua Italy 

出 版 物：《IFAC-PapersOnLine》 

年 卷 期：2024年第58卷第28期

页      面：546-551页

主　　题：Koopman control Vehicle control Torque Vectoring Nonlinear predictive control Model predictive optimization-based control Nonlinear optimal automotive control 

摘      要：Torque Vectoring plays a pivotal role in enhancing vehicle dynamics and performance. In electric vehicles with multiple motors, the torque at each wheel may be controlled independently, offering significant opportunity to enhance safety and stability. This study explores the application of Koopman-based Model Predictive Control (MPC) in torque vectoring systems. By considering an electric vehicle equipped with four in-wheel motors, a linear Koopman model is identified from data. The model is then used to formulate a linear MPC. The performance of the scheme is assessed through numerical simulations.