Control of a four-wheel independently driven electric vehicle with a large sideslip angle

Herein, we propose a motion-control algorithm for a vehicle with a large sideslip angle. The proposed algorithm is designed on the basis of the planar motion of the vehicle using a four-wheel vehicle model. The proposed algorithm controls the vehicle velocity, sideslip angle of the vehicle, and yaw rate of the vehicle using the driving forces of the four-wheels and steer angle of the front wheels as control inputs. The proposed method is implemented in a simulation and in an experimental system, and the results show the effectiveness of the proposed method.