I want to make a custom vehicle, where all wheels are powered.

I want to make some traction control algorithm, but I am not sure, how to best approach it.

My current idea:

Main controller controls separate esc for each motor. ESC has current feedback. MC compares expected rpm for given speed to current, which should be linear to torque. If current drops below expected range, it means, that wheel has started spinning too fast i.e. a slip.

If slip is detected, we lower speed given to motor compared to one that's ordered.

However. If we lower PWM frequency enough, it will cause torque impulses, which compared to smotths torque could improve grip. Kind of how low mount of cylinders is preffered in motocross or how yamaha uses crossplane crankshaft.

What do you think, what other approaches could you reccomend?