Lateral stability enhancement based on a novel sliding mode prediction control for a four-wheel-independently actuated electric vehicle

This study presents a novel direct yaw-moment control scheme to improve the lateral stability for a four-wheel-independently actuated electric vehicle. The proposed scheme adopts a cascaded structure that consists in an upper and a lower controller. A novel sliding mode prediction controller is proposed and used in the upper controller for deriving the desired additional yaw moment for lateral sta...