Integrated Chassis Control With Four-Wheel Independent Steering Under Constraint on Front Slip Angles

This paper presents a method to design an integrated chassis controller with four-wheel independent steering (4WIS) under the constraint on front slip angles for electric vehicles (EVs) adopting in-wheel motor (IWM) driving system. To improve lateral stability and maneuverability of vehicle, direct yaw moment control strategy is adopted. A allocation adopted distribute into tire forces, generated by 4WIS. If corrective 4WIS are added driver, it can deteriorate performance because force wheels easily saturated causes loss required needed stabilize vehicle. cope problem, necessary impose constraints angles. compensate caused angles, constrained presented. Simulation simulation tool, CarSim ® , shows that proposed capable maintaining without deterioration