Sezgin, Emre (AVL Türkiye Research and Engineering), Guzelkaya, Mujde (Istanbul Technical University), Yumuk, Erhan (Istanbul Technical University)

Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electric Vehicles

Scheduled for presentation during the Regular Session "Adaptive control" (WeAA), Wednesday, June 11, 2025, 11:30−11:50, Auditorium

33rd Mediterranean Conference on Control and Automation, June 10-13, 2025, Tangier, Morocco

This information is tentative and subject to change. Compiled on May 9, 2025

Abstract

Vehicle dynamic control plays a crucial role in preventing accidents by reducing the difference between the expected and measured vehicle response. Torque vectoring control is a contemporary control method used in vehicle dynamic control to enhance the traction performance of vehicles. In this study, a gain-scheduled PID-based torque vectoring controller is proposed to control a nonlinear, multi-degree-of-freedom vehicle model with three electric motors during turning maneuvers. To this end, twelve different maneuvers that the vehicle may encounter during driving are determined, and optimal coefficients that minimize the total squared error performance criterion are found for each maneuver. The coefficient surfaces are obtained for each controller coefficient using the cubic spline interpolation method. In simulation studies, the proposed gain-scheduled PID controller is tested under various maneuver changes, and it is observed that the performance of the control system significantly improves compared to the conventional PID controller.