A comprehensive new dynamic model of a four-wheel independent drive electric vehicle has been developed and different types of the motor control laws were addressed. The first part of this study deals with the full description of the model scope in which the structure of the model including the sub-models has been fully developed. Subsequently, the sub-models including the tire sub-model, the body motion, and the motor dynamics were investigated, and the computer model of the vehicle has been simulated. Finally, the proposed motor control laws and the vehicle dynamic behavior of the vehicle were presented. Detailed analyses of the vehicle performance and comparison of the simulation results were also carried out.

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