Abstract In this article, a new control method is proposed for the stability of Electrical Vehicles (EVs) with 2-motor wheels. This control method provides an optimized limit for the torque levels that produced by the front and rear motors, proportional to the road surface condition, to prevent the vehicle from slipping. In addition, a fuzzy logic-based braking system is proposed to improve vehicle performance during deceleration. The vehicle is described by the model with three degrees of freedom, which provide good accuracy. The tires are modeled according to the magic formula. To evaluate the effectiveness of the proposed method, simulations were performed in the ©MATLAB. The conclusions show that the proposed control method can well maintain the steadiness of the EV on dry and slippery roads when driving straight, accelerating or decelerating, and turning. This will prevent the vehicle from slipping and locking the wheels.

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