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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 819302, 8 pages
Research Article

Motion Control of Four-Wheel Independently Actuated Electric Ground Vehicles considering Tire Force Saturations

1School of Mechanical Engineering, Southeast University, Nanjing 211189, China
2Department of Engineering, Faculty of Engineering and Science, University of Agder, 4898 Grimstad, Norway

Received 26 September 2013; Accepted 17 November 2013

Academic Editor: Hui Zhang

Copyright © 2013 Rongrong Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A vehicle stability control approach for four-wheel independently actuated (FWIA) electric vehicles is presented. The proposed control method consists of a higher-level controller and a lower-level controller. An adaptive control-based higher-level controller is designed to yield the vehicle virtual control efforts to track the desired vehicle motions due to the possible modeling inaccuracies and parametric uncertainties. The lower-level controller considering tire force saturation is given to allocate the required control efforts to the four in-wheel motors for providing the desired tire forces. An analytic method is given to distribute the high-level control efforts, without using the numerical-optimization-based control allocation algorithms. Simulations based on a high-fidelity, CarSim, and full-vehicle model show the effectiveness of the control approach.