A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer

Table 1

Vehicle parameters.

Vehicle mass		1351 kg
Yaw moment of inertia		2031.41 kgm^2
C.g. distance to front wheels		1.04 m
C.g. distance to rear wheels		1.56 m
Sprung c.g. height		0.542 m
Front track width		1481 m
Rear track width		1.486 m
The wheel radius		0.305 m