Recent Developments in Four-In-Wheel Electronic Differential Systems in Electrical Vehicles †
Industrial Systems Engineering and Energy Conversion Team (ISEEC), Faculty of Sciences and Technologies of Tangier, University of Abdelmalek Essaadi, Tangier 90060, Morocco
*
Author to whom correspondence should be addressed.
†
Presented at the International Conference on Sustainable Computing and Green Technologies (SCGT’2025), Larache, Morocco, 14–15 May 2025.
Comput. Sci. Math. Forum 2025, 10(1), 17; https://doi.org/10.3390/cmsf2025010017
Published: 25 July 2025
(This article belongs to the Proceedings of International Conference on Sustainable Computing and Green Technologies (SCGT’2025))
Abstract
This manuscript investigates the feasibility of Four-In-Wheel Electronic Differential Systems (4 IW-EDSs) within contemporary electric vehicles (EVs), emphasizing their benefits for stability regulation predicated on steering angles. Through an extensive literature review, we conduct a comparative analysis of various in-wheel-motor models in terms of power output, efficiency, and torque characteristics. Furthermore, we explore the distinctions between IW-EDSs and steer-by-wire systems, as well as conventional systems, while evaluating recent research findings to determine their implications for the evolution of electric mobility. Moreover, this paper addresses the necessity for fault-tolerant methodologies to boost reliability in practical applications. The findings yield valuable insights into the challenges and impacts associated with the implementation of differential steering control in four-wheel independent-drive electric vehicles. This study aims to explore the interaction between these systems, optimize torque distribution, and discover the most ideal control strategy that will improve maneuverability, stability, and energy efficiency, thereby opening up new frontiers in the development of next-generation electric vehicles with unparalleled performance and safety features.
1. Introduction
Electrical differential steering systems (EDSs) have attracted widespread attention and extensive studies in recent years, which aim to clarify their operation mechanism and develop new driving control strategies. There are various EDSs and control strategies that are suitable for different goals and applications, so this paper attempts to focus on one specific type: Four-In-Wheel Electronic Differential Systems (4 IW-EDSs).
With automotive technology progressing more and more, further analysis of these systems will have significant consequences for improving vehicle performance and ensuring better handling, for example, with a steer-by-wire (SBW) system in case of steering failure, to achieve yaw stabilization and a robust torque [1].
However, studying recent research on 4 IW-EDSs in electrical vehicles may clarify the proposed controller that can significantly reduce energy consumption, improve the steering stability of the vehicle, and use less electricity.
2. Objectives
This study examines the dynamic interactions between Four-In-Wheel Electric Drive Systems (EDSs) in EVs integrated with differential steering systems (DSSs), focusing on the precise independent control of left/right in-wheel motors (IWMs), and this work will not only enhance our understanding of vehicle dynamics but also pave the way for groundbreaking advancements in steering control technologies, potentially revolutionizing the future of autonomous and semi-autonomous driving systems. This research aims to explore the synergies between these systems, optimize torque distribution, and discover the most ideal models that will improve maneuverability, stability, and energy efficiency, thereby opening up new frontiers in the development of next-generation electric vehicles with unparalleled performance and safety features.
2.1. EDS and IW Motors
Studying the impact and the relation between Four-In-Wheel EDSs in EVs with differential steering systems (DSSs) by controlling left and right in-wheel motors (IWMs) will demonstrate new possibilities for steering control technologies.
2.2. Four-IW-EDSs with Steer-by-Wire Systems
The robustness and reliability of using dynamic models of EDSs for an in-wheel motor-driven electric vehicle with a steer-by-wire (SBW) [2] system in real-world driving scenarios are evaluated, delving into practical implementation challenges or real-world testing, Therefore, the three most important factors that can interact with the Electronic Differential System are shown in Figure 1.
In recent years, many papers have studied the design and simulation of controllers for a steer-by-wire (SbW) system, including an Iterative Learning Control (ILC) and a Particle Swarm Optimization (PSO)-tuned Proportional–Integral–Derivative (PID) controller [3], by investigating the suitability, adaptability, and efficiency of steer-by-wire (SbW) technology and designing and implementing many types of these systems to compare their performance in tracking sine-wave and multi-step steering angle reference signals.
3. Systematic Review
3.1. Revolution of EDS
Recent developments in electric differential systems (EDSs) have replaced traditional mechanical differentials in electric vehicles (EVs) [4], enhancing efficiency by reducing friction losses and weight. This innovation supports distributed EV drivetrains, utilizing independently equipped motors for improved performance during cornering maneuvers.
The subsequent section will explore the historical progression and evolution of this development. This evolution can be categorized into distinct phases, each characterized by notable advancements and changing components, to analyze the importance of using the four-in-wheel independent control systems in electric vehicles.
The Figure 2 details the evolution from mechanical steering to steer-by-wire systems, with features like hydraulic pumps, electric motors, and control systems. Each step reduces the driver’s effort, improves accuracy, and moves toward all-electronic solutions, culminating in steer-by-wire systems for higher efficiency and greater design flexibility.
3.2. Recent Advances in Four-In-Wheel Electric Differential Systems
The Four-In-Wheel Electronic Differential System (4 IW-EDS) enhances stability, maneuverability, and energy efficiency through the independent motor control of each wheel. The following sections explore key developments in this field informed by recent research.
- Integrated chassis control, utilizing four-wheel independent steering (4WIS), enhances vehicular stability and maneuverability through direct yaw moment control, optimizing tire force distribution and improving stability under front-slip conditions [5].
- Lateral stability is enhanced by coordinated torque distribution and ESP differential braking through a hierarchical control model [6].
- Direct torque control utilizing space vector modulation (DTC-SVM) facilitates autonomous wheel speed regulation in four-wheel-drive electric vehicles. It adjusts to varying driving conditions while preserving battery efficiency, demonstrating robust results in simulations [7].
- Enhanced path tracking and their efficiency: Electronic differentials and in-wheel-motor systems facilitate consistent wheel speed alignment, improving path tracking and vehicular stability, thereby minimizing power loss, reducing vehicle mass, and enhancing energy efficiency across diverse conditions [8].
4. Methodology
The use of electronic differentials (EDSs) in electric vehicles (EVs) as a replacement for the traditional mechanical differential (MD), and with the independent control of in-wheel motors that distributed drivetrains with independently equipped motors, will be more efficient, but it will also make it challenging to make EVs better on the roads, although the electrification of vehicles has led to new research opportunities in various fields.
4.1. Challenges and Innovations in EDSs for EVs
The development and implementation of electronic differential systems (EDSs) in vehicles present several challenges. However Figure 3 details the most innovative solutions that have been proposed to address these issues, enhancing the performance and efficiency of EDSs [9,10,11,12].
The primary challenges for electronic differential systems (EDSs) in electric vehicles encompass computational complexity, security issues, and the requirement for sophisticated control technologies. It highlights some solutions, such as fuzzy logic controllers, sliding mode control, and simulation environments (e.g., MATLAB/Simulink 2021a), which are emphasized to advance the performance, security, and efficiency of EDSs.
4.2. In-Wheel Motors and Steering Systems
While in-wheel motors offer significant advantages in terms of efficiency and control, their implementation is not without challenges. The increased unsprung mass and the need for sophisticated control systems can complicate vehicle design and the integration of EDSs.
The experimental results indicate that this system can achieve energy savings of up to 21.4% compared to vehicles without EDSs [13], while also enhancing longitudinal dynamics, especially when using in-wheel motors.
While in-wheel motors offer numerous advantages, there are challenges to consider on Figure 4.
In-wheel motors in EVs reduce noise and maintenance and improve efficiency and passenger comfort [14]. By integrating IWMs into EV steering systems, we can develop innovative solutions to overcome current challenges while paving the way for future advancements in vehicle dynamics and control.
4.3. Challenges and Opportunities in 4 IW-EDSs for EVs
While the adoption of 4 IW-EDSs in modern EVs offers numerous advantages, it also presents challenges that need to be addressed. The complexity of control systems and the need for advanced cooling solutions are significant hurdles. However, the potential for improved vehicle performance and efficiency makes this an exciting area of research and development. As technology continues to evolve, the integration of in-wheel-motor systems is likely to become more prevalent, driving the future of electric vehicle innovation.
Numerous articles have demonstrated that an adaptive differential control system for four-wheel independent-drive (4WID) electric vehicles is capable of maneuvering the independently operating hub motors without reliance on any traditional steering mechanism [15]. Furthermore, this system proves to be most effective when integrated with a control strategy for differential steering in four-wheel independent-drive (4WID) electric vehicles, which employs the rapid speed control of in-wheel motors to modulate wheel speeds and attain electrical differential. This approach not only mitigates tire wear but also enhances vehicle stability.
5. Literature Survey
In the previous years, the goal of research in this field was to optimize the effectiveness of the steering wheel angle controller loop and road wheel angle controller loop to ensure a responsive and intuitive steering feel [16]. This is why we need to evaluate control strategies to provide an artificial steering feel in steer-by-wire and electrical differential systems.
The integration of Four-In-Wheel Electronic Differential Systems for steering control in electric vehicles (4 IW-EDS EVs) presents various approaches to driving control in recent years, and the following Table 1 presents some of those technologies.
From the table above, we evaluate some of the prominent technologies employed in electrical differential systems, in terms of both their performance advantages and the respective challenges of implementation. These technologies are designed to advance efficiency, safety, synchronization, and flexibility, but they are frequently subject to limitations such as complexity, expense, or sensitivity to fluctuations. Although this table highlights top examples, it should be mentioned that numerous other technologies are also employed in EDSs, which reflects the diversity of the industry and its ongoing evolution.
In all cases, the best way to define the best technology method is to develop a generalized trajectory tracking controller that can improve the trajectory tracking accuracy, longitudinal speed tracking, and lateral stability of a four-in-wheel-motor electric drive vehicle with differential steering [17], as well as make comparisons to make decisions for each case.
6. Discussion
Based on an overview of control strategies for steer-by-wire systems, highlighting the use of sliding mode control, model predictive control, and other technologies of control cited above to address performance and safety, non-linear SMC is a popular option for enhancing the accuracy of electrical differential systems, although it can suffer from chattering.
Model predictive controllers (MPCs) can effectively manage uncertain dynamics and eliminate chattering in SbW systems, but they have high computational costs [18]; therefore, there is no single control technique that can address all the requirements of 4IW-EDSs, and the choice of control approach depends on the specific performance and safety needs and, most importantly, on the system with the best control of the vehicle’s front wheel angle, which should be achieved through the feedback control system, improving the overall stability of the vehicle.
For the 4 IW-EDSs, all of the previous control technologies are suitable for use, but in some cases, it is better to make a comparison between two control strategies to determine their advantages and drawbacks; however, all of this emphasizes the necessity of effective control strategies, such as direct torque control (DTC), to optimize the performance of these in-wheel motors [19].
7. Conclusions
The paper explores the advancements and challenges of Four-In-Wheel Electric Differential Systems (4 IW-EDSs) in modern electric vehicles (EVs), and their potential for enhancing stability, maneuverability, and energy efficiency via independent motor control. Although control strategies, including fuzzy logic and sliding mode control, contribute to performance enhancement, computational complexity as well as integration problems remain common issues. Despite such challenges, 4 IW-EDSs have immense potential to revolutionize the performance of electric vehicles, thereby enabling future advancements in autonomous driving technologies. Continuous advancements and effective management practices are crucial to reaching their full capabilities.
In conclusion, 4 IW-EDSs offer numerous benefits, but they also present challenges that require innovative solutions and careful management. As the field continues to evolve, ongoing research and development will likely focus on enhancing the reliability and performance of ED systems, integrating new materials, and leveraging advanced simulation technologies.
Author Contributions
Conceptualization, A.E.M. and I.H.B.; methodology, A.E.M.; software, A.E.M.; validation, A.E.M. and I.H.B.; formal analysis, A.E.M.; investigation, A.E.M.; resources, A.E.M.; data curation, A.E.M.; writing—original draft preparation, A.E.M.; writing—review and editing, A.E.M.; visualization, A.E.M.; supervision, I.H.B.; project administration, A.E.M.; funding acquisition, I.H.B. All authors have read and agreed to the published version of the manuscript.
Funding
This research received no external funding.
Institutional Review Board Statement
Not applicable.
Informed Consent Statement
Not applicable.
Data Availability Statement
Data sharing is not applicable.
Conflicts of Interest
The authors declare no conflicts of interest.
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Figure 1.
Interplay of EDSs, in-wheel motors, and steer-by-wire systems in EVs.
Figure 2.
Development of the differential systems in EVs over the years.
Figure 4.
Challenges of in-wheel motors in EVs.
Table 1.
Performance and constraints of modern control technologies in EDSs.
| Technology | Performances | Constraints |
|---|---|---|
| Improved Fictitious Master Technique | Improve the overall efficiency and responsiveness of the EDS | The complexity of implementation |
| Robust Fuzzy Logic Controllers | Reduce safety risks and improve handling stability | Requires extensive testing and validation |
| Direct Torque Control by Space Vector Modulation | Improve the synchronization of the EDS | Costly and complex |
| Sliding Mode Control | Suitable for various applications, especially in EVs | Sensitivity to parameter variations |
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MDPI and ACS Style
El Mourabit, A.; Hadj Baraka, I. Recent Developments in Four-In-Wheel Electronic Differential Systems in Electrical Vehicles. Comput. Sci. Math. Forum 2025, 10, 17. https://doi.org/10.3390/cmsf2025010017
AMA Style
El Mourabit A, Hadj Baraka I. Recent Developments in Four-In-Wheel Electronic Differential Systems in Electrical Vehicles. Computer Sciences & Mathematics Forum. 2025; 10(1):17. https://doi.org/10.3390/cmsf2025010017
Chicago/Turabian StyleEl Mourabit, Anouar, and Ibrahim Hadj Baraka. 2025. "Recent Developments in Four-In-Wheel Electronic Differential Systems in Electrical Vehicles" Computer Sciences & Mathematics Forum 10, no. 1: 17. https://doi.org/10.3390/cmsf2025010017
APA StyleEl Mourabit, A., & Hadj Baraka, I. (2025). Recent Developments in Four-In-Wheel Electronic Differential Systems in Electrical Vehicles. Computer Sciences & Mathematics Forum, 10(1), 17. https://doi.org/10.3390/cmsf2025010017
