To improve the stability of four-wheel-independent-drive( 4WID) and four-wheelindependent-steering( 4WIS) electric vehicles,a novel integrated control strategy was proposed to combine active rear-wheel steering( ARS) with direct yaw-moment control( DYC). The advantage of horizontal control margin was used to decrease longitudinal control. To maintain the desired steering characteristics using control system,the variable steering ratio reference model was adopted. ARS controller and nonlinear DYC controller ...
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