Wheel force distribution for improved handling in a hybrid electric vehicle using nonlinear control

In this paper a vehicle motion controller is presented. The idea is to use generalized forces acting on the center of gravity of the vehicle and then use a control allocation-like method to distribute the generalized forces to wheel forces. The controller is designed based on feedback linearization of a simple vehicle model. The performance of the controller is evaluated by simulations on a more complex vehicle model. The proposed controller can handle the new flexibility introduced by new powertrain configurations, this is shown by using the same controller on two different vehicle configurations.