Model Predictive Controller-Based Optimal Slip Ratio Control System for Distributed Driver Electric Vehicle

Figure 10

The simulation results of MPC-OSRCS on test 2. (a) Tire longitude slip ratio κ. (b) Vehicle velocity. (c) Weight of road surfaces. (d) Weight of operation modes. (e) Distribution of motor torques.

(a)

(b)

(c)

(d)

(e)