Control of regenerative braking systems for four-wheel-independently-actuated electric vehicles

Abstract Control of regenerative braking systems is considered in this paper. Firstly a modular observer is proposed to estimate the vehicle longitudinal velocity, and input-to-state stability theory is utilized to prove that the estimation error converges to zero. Then based on the estimated velocity, a feedback hierarchical controller is proposed to track a desired velocity and distribute the braking torques to the four wheels to improve energy recovery. Simulation results show the effectiveness of the proposed modular observer and hierarchical controller.

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