Trajectory Tracking Control for Four-Wheel Independently Driven Electric Vehicle Based on Model Predictive Control and Sliding Model Control

This paper is to resolve the instability problem of trajectory tracking of four-wheel independently driven vehicles under high-speed conditions, an integrated control method of active front steering (AFS) and direct yaw moment (DYC) is designed. AFS controller to assure that the vehicle tracks the desired trajectory as far as possible. and DYC controller to assure vehicle stability during trajecto...