Axle decoupler system with mechanical synchronizer

A method comprising:

• receiving a first command to engage a motor of a vehicle in which a wheel hub is presently disengaged from an axle of the motor;
• accelerating, in response to the first command, the axle to a rotational speed of the wheel hub, wherein a one-way clutch coupling the axle and the wheel hub to each other is preloaded;
• in response to the axle reaching the rotational speed of the wheel hub, commanding zero torque from the motor, wherein the axle decelerates, and moving a sliding ring coupled to the axle toward engagement with the wheel hub;
• completing the engagement between the sliding ring and the wheel hub, wherein the axle and the wheel hub have a common rotational speed;
• and
• after the engagement between the sliding ring and the wheel hub is completed, commanding torque from the motor according to the first command.