{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:39:50Z","timestamp":1777927190989,"version":"3.51.4"},"reference-count":44,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2018,10,11]],"date-time":"2018-10-11T00:00:00Z","timestamp":1539216000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["U1564207"],"award-info":[{"award-number":["U1564207"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2019,7]]},"abstract":"<jats:p>This article focuses on an integrated chassis control algorithm design for path tracking utilizing four-wheel steering and direct yaw-moment control. The designed integrated chassis control algorithm mainly consists of three parts: (1) taking the parametric uncertainties, external disturbances, measurement noise and unmodeled dynamics into consideration, a robust controller is designed for path tracking utilizing \u03bc synthesis approach; (2) the control allocation algorithm is proposed to distribute the output torque requirements to each in-wheel motor based on the weighted least square; and (3) considering that vehicle lateral velocity is a critical state variable for path-tracking control, while it is not easy to measure with low-cost sensors, a state observer is designed for lateral velocity estimation using unscented Kalman filter. To verify the performance of the designed integrated chassis control algorithm, three simulation maneuvers including the single-lane change, curve and the double-lane change are carried out in MATLAB\/Simulink with a high-fidelity, full-vehicle model built in CarSim. The proposed integrated chassis control algorithm is compared with other three control algorithms, that is, active front steering, four-wheel steering and active front steering\u2009+\u2009direct yaw-moment control, and simulation results indicate that the integrated chassis control algorithm has superior path-tracking performance and handling stability. The robust performance of the integrated chassis control algorithm is also verified under the variation of vehicle velocity and different road conditions.<\/jats:p>","DOI":"10.1177\/0959651818806075","type":"journal-article","created":{"date-parts":[[2018,10,12]],"date-time":"2018-10-12T00:55:37Z","timestamp":1539305737000},"page":"625-641","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":26,"title":["Integrated chassis control algorithm design for path tracking based on four-wheel steering and direct yaw-moment control"],"prefix":"10.1177","volume":"233","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5843-0594","authenticated-orcid":false,"given":"Peng","family":"Hang","sequence":"first","affiliation":[{"name":"School of Automotive Studies, Tongji University, Shanghai, P.R. 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