Method and apparatus to control coordinated wheel motors

System for controlling motor wheels of a vehicle, comprising:

• a plurality of individually controlled wheel motors, comprising at least one wheel motor for an inner wheel and at least one wheel motor for an outer wheel;
• a steering system, comprising a steering wheel, a steering command sensor, and a means for steering the vehicle;
• a yaw-rate detector;
• and,
• an electronic controller:
• signally connected to the steering command sensor, and, the yaw-rate detector;
• and, operably connected to each of the plurality of individually controlled wheel motors;
• the electronic controller operable to:
• determine a commanded steering angle;
• identify the at least one inner motored wheel and the at least one outer motored wheel;
• determine a yaw-rate error;
• calculate a desired wheel motor yaw torque moment;
• calculate a first torque for each of the inner motored wheels;
• calculate a second torque for each of the outer motored wheels;
• calculate a first ideal wheel speed for each of the inner motored wheels;
• calculate a second ideal wheel speed for each of the outer wheels;
• and, control torque and speed of each of the inner motored wheels and each of the outer motored wheels, based upon the yaw-rate error, the first and second torques, and the first and second ideal wheel speeds.