Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles

Emre Sezgin; Mujde Guzelkaya; Erhan Yumuk

doi:10.1109/MED64031.2025.11073210

Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles

Emre Sezgin^*, Mujde Guzelkaya, Erhan Yumuk

^*Corresponding author for this work

Department of Control and Automation Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Vehicle dynamic control plays a crucial role in preventing accidents by reducing the difference between the expected and measured vehicle response. Torque vectoring control is a contemporary control method used in vehicle dynamic control to enhance the traction performance of vehicles. In this study, a gain-scheduled PID-based torque vectoring controller is proposed to control a nonlinear, multi-degree-of-freedom vehicle model with three electric motors during turning maneuvers. To this end, same maneuver is generated for twelve different working point that the vehicle may encounter during driving, and optimal coefficients that minimize the total squared error performance criterion are found for each maneuver. The coefficient surfaces are obtained for each controller coefficient using the cubic spline interpolation method. In simulation studies, the proposed gain-scheduled PID controller is tested under various maneuver changes, and it is observed that the performance of the control system significantly improves compared to the conventional PID controller.

Original language	English
Title of host publication	2025 33rd Mediterranean Conference on Control and Automation, MED 2025
Editors	Abdel Aitouche, Driss Mehdi, Dhaker Abnes, Lounis Adouane, Smail Bachir, Michel Basset, Juri Belikov, Abdellah Benzaouia, Manuel Berenguel, Nicola Bezzo, Luigi Biagiotti, Marcello Bonfe, Jerome Bosche, Mahd Boukerdja, Raffaele Carli, Alessandro Casavola, Graziana Cavone, Mohamed Chaabane, Michelle Chong, Vincent Cocquempot, Giacomo Como, Egidio D'Amato, Vittorio De Iuliis, Kyriakos Deliparaschos, Jean-Yves Dieulot, Lefteris Doitsidis, Mariagrazia Dotoli, Tolga Eren, Simon G. Fabri, Adriano Fagiolini, Mondher Farza, Antoine Ferreira, Giancarlo Fortino, Alessandro Freddi, Sergio Galeani, Hamd Gassara, Malek Ghanes, Laura Giarre', Jorge M Goncalves, Meriem Hayani Mechkouri, Loretta Ichim, Eric Joubert, Elkhatib Kamal, Mustafa Khammash, Maher Kharratt, Abdessamad Kobi, Olena Kuzmych, Kostas J Kyriakopoulos, Samir Ladaci, Othman Lakhal, Taous-Meriem Laleg, Minas Liarokapis, Julien Marzat, Kamal Medjaher, Paolo Mercorelli, Andrea Monteriu, Hassan Noura, Severus Constantin Olteanu, Rodolfo Orjuela, Zalman J. Palmor, Evangelos Papadopoulos, Nikos Papanikolopoulos, Dan Popescu, Maria Prandini, Vicenc Puig, Rabhi Abdelhamid, Vasso Reppa, Joachim Rudolph, Antonio Sala, Paolo Scarabaggio, David Scaradozzi, Luca Schenato, Horst Schulte, Olivie Sename, Jinjun Shan, Giuseppe Silano, Margareta Stefanovic, Florin Stoican, Fernando Tadeo, Davide Tebaldi, Didier Theilliol, Lizeth Torres, Costas Tzafestas, Damiano Varagnolo, Christos Verginis, Antonio Visioli, Haoping Wang, Marcin Witczak, Xiang Yu, Michel Zasadzinski, Elena Zattoni, Youmin Zhang, Argyrios Zolotas
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	19-24
Number of pages	6
ISBN (Electronic)	9798331577193
DOIs	https://doi.org/10.1109/MED64031.2025.11073210
Publication status	Published - 2025
Event	33rd Mediterranean Conference on Control and Automation, MED 2025 - Tangier, Morocco Duration: 10 Jun 2025 → 13 Jun 2025

Publication series

Name	2025 33rd Mediterranean Conference on Control and Automation, MED 2025

Conference

Conference	33rd Mediterranean Conference on Control and Automation, MED 2025
Country/Territory	Morocco
City	Tangier
Period	10/06/25 → 13/06/25

Bibliographical note

Publisher Copyright:
© 2025 IEEE.

Keywords

PID controller
non-linear systems
torque vectoring
vehicle dynamics

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/MED64031.2025.11073210

Cite this

Sezgin, E., Guzelkaya, M., & Yumuk, E. (2025). Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles. In A. Aitouche, D. Mehdi, D. Abnes, L. Adouane, S. Bachir, M. Basset, J. Belikov, A. Benzaouia, M. Berenguel, N. Bezzo, L. Biagiotti, M. Bonfe, J. Bosche, M. Boukerdja, R. Carli, A. Casavola, G. Cavone, M. Chaabane, M. Chong, V. Cocquempot, G. Como, E. D'Amato, V. De Iuliis, K. Deliparaschos, J.-Y. Dieulot, L. Doitsidis, M. Dotoli, T. Eren, S. G. Fabri, A. Fagiolini, M. Farza, A. Ferreira, G. Fortino, A. Freddi, S. Galeani, H. Gassara, M. Ghanes, L. Giarre', J. M. Goncalves, M. Hayani Mechkouri, L. Ichim, E. Joubert, E. Kamal, M. Khammash, M. Kharratt, A. Kobi, O. Kuzmych, K. J. Kyriakopoulos, S. Ladaci, O. Lakhal, T.-M. Laleg, M. Liarokapis, J. Marzat, K. Medjaher, P. Mercorelli, A. Monteriu, H. Noura, S. C. Olteanu, R. Orjuela, Z. J. Palmor, E. Papadopoulos, N. Papanikolopoulos, D. Popescu, M. Prandini, V. Puig, R. Abdelhamid, V. Reppa, J. Rudolph, A. Sala, P. Scarabaggio, D. Scaradozzi, L. Schenato, H. Schulte, O. Sename, J. Shan, G. Silano, M. Stefanovic, F. Stoican, F. Tadeo, D. Tebaldi, D. Theilliol, L. Torres, C. Tzafestas, D. Varagnolo, C. Verginis, A. Visioli, H. Wang, M. Witczak, X. Yu, M. Zasadzinski, E. Zattoni, Y. Zhang, ... A. Zolotas (Eds.), 2025 33rd Mediterranean Conference on Control and Automation, MED 2025 (pp. 19-24). (2025 33rd Mediterranean Conference on Control and Automation, MED 2025). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED64031.2025.11073210

Sezgin, Emre ; Guzelkaya, Mujde ; Yumuk, Erhan. / Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles. 2025 33rd Mediterranean Conference on Control and Automation, MED 2025. editor / Abdel Aitouche ; Driss Mehdi ; Dhaker Abnes ; Lounis Adouane ; Smail Bachir ; Michel Basset ; Juri Belikov ; Abdellah Benzaouia ; Manuel Berenguel ; Nicola Bezzo ; Luigi Biagiotti ; Marcello Bonfe ; Jerome Bosche ; Mahd Boukerdja ; Raffaele Carli ; Alessandro Casavola ; Graziana Cavone ; Mohamed Chaabane ; Michelle Chong ; Vincent Cocquempot ; Giacomo Como ; Egidio D'Amato ; Vittorio De Iuliis ; Kyriakos Deliparaschos ; Jean-Yves Dieulot ; Lefteris Doitsidis ; Mariagrazia Dotoli ; Tolga Eren ; Simon G. Fabri ; Adriano Fagiolini ; Mondher Farza ; Antoine Ferreira ; Giancarlo Fortino ; Alessandro Freddi ; Sergio Galeani ; Hamd Gassara ; Malek Ghanes ; Laura Giarre' ; Jorge M Goncalves ; Meriem Hayani Mechkouri ; Loretta Ichim ; Eric Joubert ; Elkhatib Kamal ; Mustafa Khammash ; Maher Kharratt ; Abdessamad Kobi ; Olena Kuzmych ; Kostas J Kyriakopoulos ; Samir Ladaci ; Othman Lakhal ; Taous-Meriem Laleg ; Minas Liarokapis ; Julien Marzat ; Kamal Medjaher ; Paolo Mercorelli ; Andrea Monteriu ; Hassan Noura ; Severus Constantin Olteanu ; Rodolfo Orjuela ; Zalman J. Palmor ; Evangelos Papadopoulos ; Nikos Papanikolopoulos ; Dan Popescu ; Maria Prandini ; Vicenc Puig ; Rabhi Abdelhamid ; Vasso Reppa ; Joachim Rudolph ; Antonio Sala ; Paolo Scarabaggio ; David Scaradozzi ; Luca Schenato ; Horst Schulte ; Olivie Sename ; Jinjun Shan ; Giuseppe Silano ; Margareta Stefanovic ; Florin Stoican ; Fernando Tadeo ; Davide Tebaldi ; Didier Theilliol ; Lizeth Torres ; Costas Tzafestas ; Damiano Varagnolo ; Christos Verginis ; Antonio Visioli ; Haoping Wang ; Marcin Witczak ; Xiang Yu ; Michel Zasadzinski ; Elena Zattoni ; Youmin Zhang ; Argyrios Zolotas. Institute of Electrical and Electronics Engineers Inc., 2025. pp. 19-24 (2025 33rd Mediterranean Conference on Control and Automation, MED 2025).

@inproceedings{7c212d11ff7d472b9121439cbdba6d93,

title = "Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles",

abstract = "Vehicle dynamic control plays a crucial role in preventing accidents by reducing the difference between the expected and measured vehicle response. Torque vectoring control is a contemporary control method used in vehicle dynamic control to enhance the traction performance of vehicles. In this study, a gain-scheduled PID-based torque vectoring controller is proposed to control a nonlinear, multi-degree-of-freedom vehicle model with three electric motors during turning maneuvers. To this end, same maneuver is generated for twelve different working point that the vehicle may encounter during driving, and optimal coefficients that minimize the total squared error performance criterion are found for each maneuver. The coefficient surfaces are obtained for each controller coefficient using the cubic spline interpolation method. In simulation studies, the proposed gain-scheduled PID controller is tested under various maneuver changes, and it is observed that the performance of the control system significantly improves compared to the conventional PID controller.",

keywords = "PID controller, non-linear systems, torque vectoring, vehicle dynamics",

author = "Emre Sezgin and Mujde Guzelkaya and Erhan Yumuk",

note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 33rd Mediterranean Conference on Control and Automation, MED 2025 ; Conference date: 10-06-2025 Through 13-06-2025",

year = "2025",

doi = "10.1109/MED64031.2025.11073210",

language = "English",

series = "2025 33rd Mediterranean Conference on Control and Automation, MED 2025",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "19--24",

editor = "Abdel Aitouche and Driss Mehdi and Dhaker Abnes and Lounis Adouane and Smail Bachir and Michel Basset and Juri Belikov and Abdellah Benzaouia and Manuel Berenguel and Nicola Bezzo and Luigi Biagiotti and Marcello Bonfe and Jerome Bosche and Mahd Boukerdja and Raffaele Carli and Alessandro Casavola and Graziana Cavone and Mohamed Chaabane and Michelle Chong and Vincent Cocquempot and Giacomo Como and Egidio D'Amato and \{De Iuliis\}, Vittorio and Kyriakos Deliparaschos and Jean-Yves Dieulot and Lefteris Doitsidis and Mariagrazia Dotoli and Tolga Eren and Fabri, \{Simon G.\} and Adriano Fagiolini and Mondher Farza and Antoine Ferreira and Giancarlo Fortino and Alessandro Freddi and Sergio Galeani and Hamd Gassara and Malek Ghanes and Laura Giarre' and Goncalves, \{Jorge M\} and \{Hayani Mechkouri\}, Meriem and Loretta Ichim and Eric Joubert and Elkhatib Kamal and Mustafa Khammash and Maher Kharratt and Abdessamad Kobi and Olena Kuzmych and Kyriakopoulos, \{Kostas J\} and Samir Ladaci and Othman Lakhal and Taous-Meriem Laleg and Minas Liarokapis and Julien Marzat and Kamal Medjaher and Paolo Mercorelli and Andrea Monteriu and Hassan Noura and Olteanu, \{Severus Constantin\} and Rodolfo Orjuela and Palmor, \{Zalman J.\} and Evangelos Papadopoulos and Nikos Papanikolopoulos and Dan Popescu and Maria Prandini and Vicenc Puig and Rabhi Abdelhamid and Vasso Reppa and Joachim Rudolph and Antonio Sala and Paolo Scarabaggio and David Scaradozzi and Luca Schenato and Horst Schulte and Olivie Sename and Jinjun Shan and Giuseppe Silano and Margareta Stefanovic and Florin Stoican and Fernando Tadeo and Davide Tebaldi and Didier Theilliol and Lizeth Torres and Costas Tzafestas and Damiano Varagnolo and Christos Verginis and Antonio Visioli and Haoping Wang and Marcin Witczak and Xiang Yu and Michel Zasadzinski and Elena Zattoni and Youmin Zhang and Argyrios Zolotas",

booktitle = "2025 33rd Mediterranean Conference on Control and Automation, MED 2025",

address = "United States",

}

Sezgin, E, Guzelkaya, M & Yumuk, E 2025, Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles. in A Aitouche, D Mehdi, D Abnes, L Adouane, S Bachir, M Basset, J Belikov, A Benzaouia, M Berenguel, N Bezzo, L Biagiotti, M Bonfe, J Bosche, M Boukerdja, R Carli, A Casavola, G Cavone, M Chaabane, M Chong, V Cocquempot, G Como, E D'Amato, V De Iuliis, K Deliparaschos, J-Y Dieulot, L Doitsidis, M Dotoli, T Eren, SG Fabri, A Fagiolini, M Farza, A Ferreira, G Fortino, A Freddi, S Galeani, H Gassara, M Ghanes, L Giarre', JM Goncalves, M Hayani Mechkouri, L Ichim, E Joubert, E Kamal, M Khammash, M Kharratt, A Kobi, O Kuzmych, KJ Kyriakopoulos, S Ladaci, O Lakhal, T-M Laleg, M Liarokapis, J Marzat, K Medjaher, P Mercorelli, A Monteriu, H Noura, SC Olteanu, R Orjuela, ZJ Palmor, E Papadopoulos, N Papanikolopoulos, D Popescu, M Prandini, V Puig, R Abdelhamid, V Reppa, J Rudolph, A Sala, P Scarabaggio, D Scaradozzi, L Schenato, H Schulte, O Sename, J Shan, G Silano, M Stefanovic, F Stoican, F Tadeo, D Tebaldi, D Theilliol, L Torres, C Tzafestas, D Varagnolo, C Verginis, A Visioli, H Wang, M Witczak, X Yu, M Zasadzinski, E Zattoni, Y Zhang & A Zolotas (eds), 2025 33rd Mediterranean Conference on Control and Automation, MED 2025. 2025 33rd Mediterranean Conference on Control and Automation, MED 2025, Institute of Electrical and Electronics Engineers Inc., pp. 19-24, 33rd Mediterranean Conference on Control and Automation, MED 2025, Tangier, Morocco, 10/06/25. https://doi.org/10.1109/MED64031.2025.11073210

Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles. / Sezgin, Emre; Guzelkaya, Mujde ; Yumuk, Erhan.
2025 33rd Mediterranean Conference on Control and Automation, MED 2025. ed. / Abdel Aitouche; Driss Mehdi; Dhaker Abnes; Lounis Adouane; Smail Bachir; Michel Basset; Juri Belikov; Abdellah Benzaouia; Manuel Berenguel; Nicola Bezzo; Luigi Biagiotti; Marcello Bonfe; Jerome Bosche; Mahd Boukerdja; Raffaele Carli; Alessandro Casavola; Graziana Cavone; Mohamed Chaabane; Michelle Chong; Vincent Cocquempot; Giacomo Como; Egidio D'Amato; Vittorio De Iuliis; Kyriakos Deliparaschos; Jean-Yves Dieulot; Lefteris Doitsidis; Mariagrazia Dotoli; Tolga Eren; Simon G. Fabri; Adriano Fagiolini; Mondher Farza; Antoine Ferreira; Giancarlo Fortino; Alessandro Freddi; Sergio Galeani; Hamd Gassara; Malek Ghanes; Laura Giarre'; Jorge M Goncalves; Meriem Hayani Mechkouri; Loretta Ichim; Eric Joubert; Elkhatib Kamal; Mustafa Khammash; Maher Kharratt; Abdessamad Kobi; Olena Kuzmych; Kostas J Kyriakopoulos; Samir Ladaci; Othman Lakhal; Taous-Meriem Laleg; Minas Liarokapis; Julien Marzat; Kamal Medjaher; Paolo Mercorelli; Andrea Monteriu; Hassan Noura; Severus Constantin Olteanu; Rodolfo Orjuela; Zalman J. Palmor; Evangelos Papadopoulos; Nikos Papanikolopoulos; Dan Popescu; Maria Prandini; Vicenc Puig; Rabhi Abdelhamid; Vasso Reppa; Joachim Rudolph; Antonio Sala; Paolo Scarabaggio; David Scaradozzi; Luca Schenato; Horst Schulte; Olivie Sename; Jinjun Shan; Giuseppe Silano; Margareta Stefanovic; Florin Stoican; Fernando Tadeo; Davide Tebaldi; Didier Theilliol; Lizeth Torres; Costas Tzafestas; Damiano Varagnolo; Christos Verginis; Antonio Visioli; Haoping Wang; Marcin Witczak; Xiang Yu; Michel Zasadzinski; Elena Zattoni; Youmin Zhang; Argyrios Zolotas. Institute of Electrical and Electronics Engineers Inc., 2025. p. 19-24 (2025 33rd Mediterranean Conference on Control and Automation, MED 2025).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles

AU - Sezgin, Emre

AU - Guzelkaya, Mujde

AU - Yumuk, Erhan

PY - 2025

Y1 - 2025

N2 - Vehicle dynamic control plays a crucial role in preventing accidents by reducing the difference between the expected and measured vehicle response. Torque vectoring control is a contemporary control method used in vehicle dynamic control to enhance the traction performance of vehicles. In this study, a gain-scheduled PID-based torque vectoring controller is proposed to control a nonlinear, multi-degree-of-freedom vehicle model with three electric motors during turning maneuvers. To this end, same maneuver is generated for twelve different working point that the vehicle may encounter during driving, and optimal coefficients that minimize the total squared error performance criterion are found for each maneuver. The coefficient surfaces are obtained for each controller coefficient using the cubic spline interpolation method. In simulation studies, the proposed gain-scheduled PID controller is tested under various maneuver changes, and it is observed that the performance of the control system significantly improves compared to the conventional PID controller.

AB - Vehicle dynamic control plays a crucial role in preventing accidents by reducing the difference between the expected and measured vehicle response. Torque vectoring control is a contemporary control method used in vehicle dynamic control to enhance the traction performance of vehicles. In this study, a gain-scheduled PID-based torque vectoring controller is proposed to control a nonlinear, multi-degree-of-freedom vehicle model with three electric motors during turning maneuvers. To this end, same maneuver is generated for twelve different working point that the vehicle may encounter during driving, and optimal coefficients that minimize the total squared error performance criterion are found for each maneuver. The coefficient surfaces are obtained for each controller coefficient using the cubic spline interpolation method. In simulation studies, the proposed gain-scheduled PID controller is tested under various maneuver changes, and it is observed that the performance of the control system significantly improves compared to the conventional PID controller.

KW - PID controller

KW - non-linear systems

KW - torque vectoring

KW - vehicle dynamics

UR - https://www.scopus.com/pages/publications/105012209672

U2 - 10.1109/MED64031.2025.11073210

DO - 10.1109/MED64031.2025.11073210

M3 - Conference contribution

AN - SCOPUS:105012209672

T3 - 2025 33rd Mediterranean Conference on Control and Automation, MED 2025

SP - 19

EP - 24

BT - 2025 33rd Mediterranean Conference on Control and Automation, MED 2025

A2 - Aitouche, Abdel

A2 - Mehdi, Driss

A2 - Abnes, Dhaker

A2 - Adouane, Lounis

A2 - Bachir, Smail

A2 - Basset, Michel

A2 - Belikov, Juri

A2 - Benzaouia, Abdellah

A2 - Berenguel, Manuel

A2 - Bezzo, Nicola

A2 - Biagiotti, Luigi

A2 - Bonfe, Marcello

A2 - Bosche, Jerome

A2 - Boukerdja, Mahd

A2 - Carli, Raffaele

A2 - Casavola, Alessandro

A2 - Cavone, Graziana

A2 - Chaabane, Mohamed

A2 - Chong, Michelle

A2 - Cocquempot, Vincent

A2 - Como, Giacomo

A2 - D'Amato, Egidio

A2 - De Iuliis, Vittorio

A2 - Deliparaschos, Kyriakos

A2 - Dieulot, Jean-Yves

A2 - Doitsidis, Lefteris

A2 - Dotoli, Mariagrazia

A2 - Eren, Tolga

A2 - Fabri, Simon G.

A2 - Fagiolini, Adriano

A2 - Farza, Mondher

A2 - Ferreira, Antoine

A2 - Fortino, Giancarlo

A2 - Freddi, Alessandro

A2 - Galeani, Sergio

A2 - Gassara, Hamd

A2 - Ghanes, Malek

A2 - Giarre', Laura

A2 - Goncalves, Jorge M

A2 - Hayani Mechkouri, Meriem

A2 - Ichim, Loretta

A2 - Joubert, Eric

A2 - Kamal, Elkhatib

A2 - Khammash, Mustafa

A2 - Kharratt, Maher

A2 - Kobi, Abdessamad

A2 - Kuzmych, Olena

A2 - Kyriakopoulos, Kostas J

A2 - Ladaci, Samir

A2 - Lakhal, Othman

A2 - Laleg, Taous-Meriem

A2 - Liarokapis, Minas

A2 - Marzat, Julien

A2 - Medjaher, Kamal

A2 - Mercorelli, Paolo

A2 - Monteriu, Andrea

A2 - Noura, Hassan

A2 - Olteanu, Severus Constantin

A2 - Orjuela, Rodolfo

A2 - Palmor, Zalman J.

A2 - Papadopoulos, Evangelos

A2 - Papanikolopoulos, Nikos

A2 - Popescu, Dan

A2 - Prandini, Maria

A2 - Puig, Vicenc

A2 - Abdelhamid, Rabhi

A2 - Reppa, Vasso

A2 - Rudolph, Joachim

A2 - Sala, Antonio

A2 - Scarabaggio, Paolo

A2 - Scaradozzi, David

A2 - Schenato, Luca

A2 - Schulte, Horst

A2 - Sename, Olivie

A2 - Shan, Jinjun

A2 - Silano, Giuseppe

A2 - Stefanovic, Margareta

A2 - Stoican, Florin

A2 - Tadeo, Fernando

A2 - Tebaldi, Davide

A2 - Theilliol, Didier

A2 - Torres, Lizeth

A2 - Tzafestas, Costas

A2 - Varagnolo, Damiano

A2 - Verginis, Christos

A2 - Visioli, Antonio

A2 - Wang, Haoping

A2 - Witczak, Marcin

A2 - Yu, Xiang

A2 - Zasadzinski, Michel

A2 - Zattoni, Elena

A2 - Zhang, Youmin

A2 - Zolotas, Argyrios

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 33rd Mediterranean Conference on Control and Automation, MED 2025

Y2 - 10 June 2025 through 13 June 2025

ER -

Sezgin E, Guzelkaya M , Yumuk E. Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles. In Aitouche A, Mehdi D, Abnes D, Adouane L, Bachir S, Basset M, Belikov J, Benzaouia A, Berenguel M, Bezzo N, Biagiotti L, Bonfe M, Bosche J, Boukerdja M, Carli R, Casavola A, Cavone G, Chaabane M, Chong M, Cocquempot V, Como G, D'Amato E, De Iuliis V, Deliparaschos K, Dieulot JY, Doitsidis L, Dotoli M, Eren T, Fabri SG, Fagiolini A, Farza M, Ferreira A, Fortino G, Freddi A, Galeani S, Gassara H, Ghanes M, Giarre' L, Goncalves JM, Hayani Mechkouri M, Ichim L, Joubert E, Kamal E, Khammash M, Kharratt M, Kobi A, Kuzmych O, Kyriakopoulos KJ, Ladaci S, Lakhal O, Laleg TM, Liarokapis M, Marzat J, Medjaher K, Mercorelli P, Monteriu A, Noura H, Olteanu SC, Orjuela R, Palmor ZJ, Papadopoulos E, Papanikolopoulos N, Popescu D, Prandini M, Puig V, Abdelhamid R, Reppa V, Rudolph J, Sala A, Scarabaggio P, Scaradozzi D, Schenato L, Schulte H, Sename O, Shan J, Silano G, Stefanovic M, Stoican F, Tadeo F, Tebaldi D, Theilliol D, Torres L, Tzafestas C, Varagnolo D, Verginis C, Visioli A, Wang H, Witczak M, Yu X, Zasadzinski M, Zattoni E, Zhang Y, Zolotas A, editors, 2025 33rd Mediterranean Conference on Control and Automation, MED 2025. Institute of Electrical and Electronics Engineers Inc. 2025. p. 19-24. (2025 33rd Mediterranean Conference on Control and Automation, MED 2025). doi: 10.1109/MED64031.2025.11073210

Torque Vectoring Control with Gain Scheduling PID During Cornering Maneuvers for Electrical Vehicles

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