A method and system providing coordinated torque control and speed control
of a vehicle equipped with individual wheel motors, a steering system,
and yaw-rate detection to achieve a desired yaw moment for the vehicle,
based upon operator input and vehicle operation, is described. This
includes determining a commanded steering angle, and a yaw-rate error,
based upon the commanded steering angle and detected yaw-rate. A desired
wheel motor yaw torque moment is calculated. First and second torque
moments are calculated for inner and outer motored wheels, based upon the
desired wheel motor yaw torque moment. First and second ideal wheel
speeds are calculated for the inner and outer motored wheels, based upon
the commanded steering angle. Torque and speed at each inner motored
wheel and each outer motored wheel are calculated, based upon the
yaw-rate error, the first and second torque moments, and the first and
second ideal wheel speeds.