Combined AFS and DYC Control of Four-Wheel-Independent-Drive Electric Vehicles over CAN Network with Time-Varying Delays

By Zhibin Shuai, Hui Zhang, Junmin Wang, Jianqiu Li, Minggao Ouyang. IEEE Transactions on Vehicular Technology, 2014

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Stabilizing Vehicle Lateral Dynamics with Considerations of State Delay of AFS for Electric Vehicles via Robust Gain‐Scheduling Control (2016, methodology): “For the time response simulations, it is worth noting that the references of yaw rate are defined in terms of vehicle parameters, vehicle longitudinal velocity and steering angle input of the driver [2,5,16], and the references of yaw rate can be expressed as follows:”
Electronic Stability Control Based on Motor Driving and Braking Torque Distribution for a Four In-Wheel Motor Drive Electric Vehicle (2016, background): “Therefore, the driving control and electric stability control (ESC) can be integrated and achieved in the 4MIDEV [1], [2].”
Vehicle Lateral Dynamics Control Through AFS/DYC and Robust Gain-Scheduling Approach (2016, background): “The yaw rate is an index for the handling performance, and the sideslip angle is related to the vehicle lateral stability [25], [26].”