Nonlinear PI controller for the control of electric vehicle with two-motor-wheel drive

Abstract

In this work we proposed a nonlinear PI (NLPI) controllerof the electric vehicle with two motor wheel drives. This proposed combine controller has significantly improved control performance compared to conventional linear fixed-gain PI controller. The different speeds of the wheels are ensured by the electronic differential, this driving process makes it possible to direct each driving wheel to any curve separately. Modeling and simulation are performed using the Matlab / Simulink tool to study the performance of the proposed controller.