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This paper develops a speed-scheduled predictive yaw-stability strategy for a four-axle electric wheel-driven vehicle subjected to severe steering inputs. A compact lateral–yaw model is updated according to longitudinal speed and used by the vehicle-level controller. Feasible yaw-rate and center-of-gravity (CG) sidesli...
Corner-module electric vehicles afford redundant control authority via four-wheel-independent steering, driving, and braking. Nevertheless, a single-wheel actuator fault reshapes the feasible force - moment envelope, consequently degrading both trajectory tracking and yaw stability. To tackle this challenge, this paper...
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