Energy-efficient control allocation with applications on planar motion control of electric ground vehicles

Yan Chen, Junmin Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

59 Scopus citations


This paper presents a control method for tracking electric ground vehicle planar motions while achieving the optimal energy consumption. Sliding mode control and an energy-efficient control allocation (CA) scheme are synthesized to track the desired vehicle longitudinal, lateral, and yaw motions. By explicitly incorporating actuator efficiencies and actuator operating modes into the coordination of redundant in-wheel motors equipped on electric ground vehicles, vehicle planar motion control and operating energy optimization are achieved simultaneously. Different maneuvers are tested for comparisons between the standard and the energy-efficient CA schemes. Based on experimental data and some reasonable assumptions on the efficiencies of in-wheel motors, the energy-efficient CA dictates different torque distributions on all the wheels under consideration of different efficiencies. Simulation results indicate that, in comparison to the results by the standard CA scheme, less energy is consumed when the energy-efficient CA scheme is applied for controlling the electric ground vehicle planar motions.

Original languageEnglish (US)
Title of host publicationProceedings of the 2011 American Control Conference, ACC 2011
Number of pages6
StatePublished - 2011
Externally publishedYes
Event2011 American Control Conference, ACC 2011 - San Francisco, CA, United States
Duration: Jun 29 2011Jul 1 2011

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2011 American Control Conference, ACC 2011
Country/TerritoryUnited States
CitySan Francisco, CA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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