| Vehicle Stability Control for 4WIS-4WID EV Based on Four-Wheel Steering and Direct Yaw Moment Control |
| Liqiang Jin1, Yuhang Wen1, Andong Li1, Zhen Zhong2, Fei Zhang2, Changjie Yin2, Yin Zhang2 |
1National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun, 130022, China
2Inner Mongolia First Machinery Group Co., Ltd, Baotou, 014030, China |
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Received: February 18, 2025; Revised: June 4, 2025 Accepted: July 22, 2025. Published online: September 12, 2025. |
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| ABSTRACT |
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This study is focused on improving the handling and stability of a 4WIS-4WID EV (four-wheel independent steering and four-wheel independent driving electric vehicle) through the development of an integrated control strategy. This strategy integrates a four-wheel steering (4WS) system controlled by a fuzzy linear quadratic regulator (FLQR) and a direct yaw moment control (DYC) system incorporating global fast terminal sliding mode control (GFTSMC). The FLQR controller dynamically adjusts the steering angles of front and rear wheels and adaptively reweights the control priorities of sideslip angle and yaw rate via fuzzy control based on real-time road adhesion coefficient and vehicle speed, thereby optimizing vehicle transient response. The GFTSMC-based controller of the DYC system functions as an auxiliary control mechanism. It is only activated to calculate the additional yaw moment when the yaw rate error exceeds a threshold related to the vehicle speed. Moreover, the supplementary yaw moment is optimally distributed among the four wheels based on tire utilization. Simulations performed in the CarSim-MATLAB/Simulink environment demonstrate the efficacy of the proposed strategy. The results reveal that the 4WS + DYC system achieves accurate tracking of the desired sideslip angle and yaw rate, which significantly enhance vehicle stability and maneuverability under varying driving conditions. |
| Key Words:
4WIS-4WID EV · Four-wheel steering · Direct yaw moment control · Linear quadratic regulator · Global fast terminal sliding mode control · Fuzzy control |
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Corresponding Author.
Liqiang Jin , Email. 
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