{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:36:55Z","timestamp":1777927015315,"version":"3.51.4"},"reference-count":27,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2015,1,6]],"date-time":"2015-01-06T00:00:00Z","timestamp":1420502400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2015,4]]},"abstract":"<jats:p>A small-scale electric model vehicle is built with four in-wheel motors. A field programmable gate array is chosen as the control kernel for this electric vehicle system. Since this electric model vehicle has four in-wheel driving motors without differential mechanism, it needs an electronic differential and well-designed control algorithm to manipulate the vehicle driving speed and orientation. Accurate mathematical model of this multi-input and multi-output electric vehicle system is difficult to establish for a model-based controller design. Here, the adaptive functional approximation control scheme is first employed to design the speed controller of each wheel for integrating with the Ackermann\u2013Jeantand model-based electronic differential. A model reference adaptive-proportional\u2013integral\u2013derivative control is designed to manipulate the vehicle steering system. The experimental results show that the proposed adaptive functional approximation control and model reference adaptive-proportional\u2013integral\u2013derivative controllers can effectively monitor the wheel rotational speed and steering angle with rotational speed error and angular error less than 2\u2009r\/min and [Formula: see text], respectively. The induced electronic differential model successfully assisted the vehicle turning control and trajectory following control operations.<\/jats:p>","DOI":"10.1177\/0959651814564479","type":"journal-article","created":{"date-parts":[[2015,1,7]],"date-time":"2015-01-07T20:53:10Z","timestamp":1420663990000},"page":"319-333","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Adaptive functional approximation strategy for a four-wheel drive electrical vehicle driving speed control"],"prefix":"10.1177","volume":"229","author":[{"given":"Shiuh-Jer","family":"Huang","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chun-Shian","family":"Yang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2015,1,6]]},"reference":[{"key":"bibr1-0959651814564479","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2004.834944"},{"key":"bibr2-0959651814564479","doi-asserted-by":"publisher","DOI":"10.1109\/TIA.2011.2125770"},{"key":"bibr3-0959651814564479","first-page":"2469","volume-title":"IEEE proceedings of the 2006 American control conference 2006","author":"Yang Y-P"},{"key":"bibr4-0959651814564479","first-page":"2036","volume-title":"IEEE international conference on electric machines and systems, ICEMS","author":"Cho YJ"},{"key":"bibr5-0959651814564479","first-page":"1","volume-title":"IEEE vehicle power and propulsion conference","author":"Lu D"},{"key":"bibr6-0959651814564479","first-page":"2590","volume-title":"IEEE proceedings of the American control conference","volume":"3","author":"Hallowell 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