Study of the torque vectoring control problem

The aim of this thesis is to address the design of a torque vectoring system for an electric All-Wheel-Drive car. The torque vectoring objective is to substitute the need of a mechanical differential in case of an electric car with four individual hub motors. It can be exploited also to perform various forms of electronic stability, such as traction and launch control, improving safety, sports performance and off-road capabilities of vehicles. These technologies involve individual control of each wheel’s drive torque or braking force in response to the dynamics of the driving conditions and the driver’s intentions. This work present a non-linear model derived from a Lagrangian approach to the solution of the control problem, that is then studied at the equilibrium point along a curvilinear trajectory.