Model predictive control based torque vectoring algorithm for electric car with independent drives

We present torque vectoring algorithm for the electric car with four independent drives using the model predictive control (MPC). The presented method uses the linearized model of the car in every step of the simulation to create the quadratic problem with criteria selected in such a way that distribution of torques to each wheel causes the best achievable behavior of the car. The presented algorithm is tested in the simulation environment and compared with the results obtained by distributing torques symmetrically to each wheel.