Kampanakis, AngelosSiampis, EfstathiosVelenis, EfstathiosLongo, Stefano2016-09-282016-09-282016-08-21Angelos Kampanakis, Efstathios Siampis, Efstathios Velenis, Stefano Longo, A torque vectoring optimal control strategy for combined vehicle dynamics performance enhancement and electric motor ageing minimisation*, IFAC-PapersOnLine, Volume 49, Issue 11, 2016, Pages 412-4172405-8963https://dspace.lib.cranfield.ac.uk/handle/1826/10610http://dx.doi.org/10.1016/j.ifacol.2016.08.061In this paper we propose a control architecture that combines velocity, sideslip angle and yaw rate regulation with motor temperature regulation on a electric vehicle with four independent electric motors. The linear controller incorporates both the vehicle dynamics and the electric motor dynamics by combining a four-wheel vehicle model with a motor degradation model. It is found that the resulting controller not only enhances the vehicle stability of the vehicle, but also extends the lifetime of motors by regulating their temperatures.enAttribution-Non-Commercial-No Derivatives 3.0 Unported (CC BY-NC-ND 3.0). You are free to: Share — copy and redistribute the material in any medium or format. The licensor cannot revoke these freedoms as long as you follow the license terms. Under the following terms: Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use. Information: Non-Commercial — You may not use the material for commercial purposes. No Derivatives — If you remix, transform, or build upon the material, you may not distribute the modified material. No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permitsautomotive controlelectric vehiclesquadratic regulatorsmotor controlArticle