The stability of a four motor-wheel drive electric vehicle is improved by independent control of wheel torques. An innovative Fuzzy Direct Yaw Control method together with a novel wheel slip controller is used to enhance the vehicle stability and safety. Also a new speed estimator is presented in this paper, which is used for slip estimation. The intrinsic robustness of fuzzy controllers allows the system to operate in different road conditions successfully. Moreover, the ease to implement fuzzy controllers gives a practical solution for vehicle stability enhancement.
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