Longitudinal Motion Control of Electric Vehicles: Glocal Model and Design Using Passivity

This article presents a framework to model and design the longitudinal motion control (LMC) system for electric vehicles (EVs). Thanks to the passivity property of EVs, a hierarchical control configuration including three layers is proposed. In the lower layer, each actuator is provided a disturbance observer (DOB) for locally preventing the wheel slip. A global controller is designed in the upper layer for the cruising purpose. In addition, the middle layer serves as the aggregation and distribution channels.