There is a need to radically increase mobility of terrain vehicles through new modalities of
vehicle locomotion, ie, by establishing a new technological paradigm in vehicle dynamics …

One of the technical problems in wheel dynamics is to establish and control the relationship
between the tire kinematic and force characteristics related to tire slippage and thus to tire …

Some sensors in electronic controls may be not available or not feasible for terrain vehicle
applications due to severe environmental conditions. The ultimate goal of this paper is to …

An in-wheel-motor (IWM) powertrain is a state-of-the-art technology, which allows mobility
control, maneuverability, and energy efficiency of vehicles. In this paper, an off-road …

This paper presents a new method for optimizing mobility of a 4× 4 hybrid-electric vehicle
through control of wheel power distribution. First, a mobility index is used to calculate …

This paper investigates a control design problem for an electric vehicle (EV) with in-wheel-
motor (IWM) powertrains to enhance its mobility in severe off-road ter-rain conditions. The …

In this paper, a technical concept is described for a hybrid-electric power transmitting unit
(HE-PTU) to control the split of power between the drive axles of a 4× 4 hybrid-electric …

In-wheel electric motors open up new prospects to radically enhance the mobility of
autonomous electric vehicles with four or more driving wheels. The flexibility and agility of …

Wheel encoders play an important role in providing information about rotational kinematics
of vehicle wheels. The sensor signals are utilized in critical vehicle systems responsible for …

In this paper, the linear speed tracking control problem of a single-wheel module (SWM)
operating in an off-road environment is discussed. The approach is an extension to the …