{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:28:23Z","timestamp":1777703303852,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2016,12,5]],"date-time":"2016-12-05T00:00:00Z","timestamp":1480896000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"published-print":{"date-parts":[[2016,12,5]]},"abstract":"<jats:p>In this paper, we study a four-wheel, individual steering and four-wheel, individually driven, electric chassis, named the flexible chassis. A 2-FOF nonlinear steering model for the flexible chassis is established based on the \u201cmagic formula\u201d tire model and the Ackermann steering theorem at low speed. Also, a new control method based on the fuzzy strategy is proposed for its sideslip angle control. The left front-wheel steering angle is inputted into the simulation of the vehicle, and the left-rear wheel angle is controlled by the fuzzy controller to make the sideslip angle zero. Also, the remaining steering angle of the other two wheels, which meet the Ackermann theorem, are adjusted. Comparisons between simulations of the front-wheel steering, four-wheel, proportional steering and the newly proposed steering indicate that the new control algorithm in this paper is effective.<\/jats:p>","DOI":"10.3233\/jifs-169178","type":"journal-article","created":{"date-parts":[[2016,12,6]],"date-time":"2016-12-06T11:08:58Z","timestamp":1481022538000},"page":"2941-2948","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Fuzzy control method for a steering system consisting of a four-wheel individual steering and four-wheel individual drive electric chassis"],"prefix":"10.1177","volume":"31","author":[{"given":"Shujie","family":"Song","sequence":"first","affiliation":[{"name":"College of Food Science and Engineering, Northwest A&amp;F University, Yangling, Shaanxi, China"}]},{"given":"Jiwei","family":"Qu","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling, Shaanxi, China"}]},{"given":"Yining","family":"Li","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling, Shaanxi, China"}]},{"given":"Wei","family":"Zhou","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling, Shaanxi, China"}]},{"given":"Kangquan","family":"Guo","sequence":"additional","affiliation":[{"name":"College of Mechanical and Electronic Engineering, Northwest A&amp;F University, Yangling, Shaanxi, China"},{"name":"Shaanxi Engineering Research Center for Agricultural Equipment, Yangling, Shaanxi, China"}]}],"member":"179","published-online":{"date-parts":[[2016,12,5]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.4271\/2010-01-2307"},{"key":"e_1_3_2_3_2","first-page":"14","volume-title":"The 4th International Power Electronics and Motion Control Conference","author":"Chan C.C.","year":"2004","unstructured":"ChanC.C. and WongY.S., The state of the art of electric vehicles technology, The 4th International Power Electronics and Motion Control Conference, Xian China, August14\u201316. (2004)."},{"key":"e_1_3_2_4_2","first-page":"218","article-title":"Steering characteristics of four-wheel steering vehicle and relevant tests","volume":"24","author":"Lin C.","year":"2004","unstructured":"LinC., MengX., ChenS.Z. and WuZ.C., Steering characteristics of four-wheel steering vehicle and relevant tests, Transactions of Beijing Institute of Technology24 (2004), 218\u2013221.","journal-title":"Transactions of Beijing Institute of Technology"},{"key":"e_1_3_2_5_2","first-page":"1177","article-title":"Control strategy of 4W steer-by-wire system","volume":"40","author":"Tian C.W.","year":"2010","unstructured":"TianC.W., ZongC.F. and HeL., Control strategy of 4W steer-by-wire system, Journal of Jilin University (Engineering and Technology Edition)40 (2010), 1177\u20131182.","journal-title":"Journal of Jilin University (Engineering and Technology Edition)"},{"key":"e_1_3_2_6_2","first-page":"4","article-title":"A new tire model with an application in vehicle dynamics studies","volume":"13","author":"Bakker E.","year":"1989","unstructured":"BakkerE., PacejkaH.B. and LidnerL., A new tire model with an application in vehicle dynamics studies, Analysis13 (1989), 4\u20138.","journal-title":"Analysis"},{"key":"e_1_3_2_7_2","first-page":"6","article-title":"4WID-4WIS vehicle yaw control based on fuzzy logic control of AFS+ARS+DYC","volume":"42","author":"Yang F.G.","year":"2011","unstructured":"YangF.G., RuanJ.H. and YiY.B., 4WID-4WIS vehicle yaw control based on fuzzy logic control of AFS+ARS+DYC, Transactions of the Chinese Society for Agricultural Machinery42 (2011), 6\u201312.","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.3901\/JME.2005.10.221"},{"key":"e_1_3_2_9_2","first-page":"236","article-title":"Neural network control of a vehicle 4WS nonlinear model","volume":"25","author":"Wang H.L.","year":"2003","unstructured":"WangH.L. and HuB., Neural network control of a vehicle 4WS nonlinear model, Automotive Engineering25 (2003), 236\u2013238.","journal-title":"Automotive Engineering"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1177\/095440700421801006"},{"key":"e_1_3_2_11_2","first-page":"239","article-title":"Magicformula tire model with transient properties","volume":"1997","author":"Pacejka H.","year":"1997","unstructured":"PacejkaH. and BesselinkI., Magicformula tire model with transient properties, Vehicle System Dynamics1997 (1997), 239\u2013249.","journal-title":"Vehicle System Dynamics"},{"key":"e_1_3_2_12_2","unstructured":"ZhaH. Control analysis of front wheel steering and rear wheel steering and four-wheel steering of vehicle Jilin University (1998) 72\u201387."},{"key":"e_1_3_2_13_2","first-page":"263","volume-title":"The 32nd International Symposium on Automotive Technology and Automation (ISATA)","author":"Ackermann J.","year":"1999","unstructured":"AckermannJ., OdenthalD. and BunteT., Advantages of active steering for vehicle dynamics control, The 32nd International Symposium on Automotive Technology and Automation (ISATA), Vienna Austria, (1999), 263\u2013270."},{"key":"e_1_3_2_14_2","first-page":"25","article-title":"Advanced Vehicle Control Technology Using Four-wheel Independent Steering System","volume":"36","author":"Shu J.","year":"2005","unstructured":"ShuJ., ChenS.Z. and YangL., Advanced Vehicle Control Technology Using Four-wheel Independent Steering System, Transactions of the Chinese Society for Agricultural Machinery36 (2005), 25\u201328.","journal-title":"Transactions of the Chinese Society for Agricultural Machinery"},{"key":"e_1_3_2_15_2","first-page":"73","article-title":"Development of the control methods for four-wheel steering system","volume":"9","author":"Guo K.H.","year":"1998","unstructured":"GuoK.H. and ZhaH., Development of the control methods for four-wheel steering system, China Mechanical Engineering9 (1998), 73\u201376.","journal-title":"China Mechanical Engineering"},{"key":"e_1_3_2_16_2","doi-asserted-by":"publisher","DOI":"10.4271\/2003-01-0961"},{"key":"e_1_3_2_17_2","first-page":"951","volume-title":"the 6th International Pacific Conference on Automotive Engineering","author":"Nagai M.","year":"1991","unstructured":"NagaiM., NishizawaY. and TeranishiS., Stablity of 4ws vehicle based on side slip zeroing control, the 6th International Pacific Conference on Automotive Engineering, Octber 28-November 1, Seoul South Korea (1991), 951\u2013960."},{"key":"e_1_3_2_18_2","first-page":"1","article-title":"Four-wheel-steering control strategy and its integration with vehicle dynamics control and active roll control","author":"Velardocchia M.","year":"2004","unstructured":"VelardocchiaM., MorgandoA. and SorniottiA., Four-wheel-steering control strategy and its integration with vehicle dynamics control and active roll control, SAE Automotive Dynamics and Stability Conference (2004), 1\u20139.","journal-title":"SAE Automotive Dynamics and Stability Conference"},{"key":"e_1_3_2_19_2","doi-asserted-by":"publisher","DOI":"10.1541\/ieejias.131.616"},{"key":"e_1_3_2_20_2","first-page":"73","article-title":"Adaptive model following control of four-wheel steering vehicle","volume":"22","author":"Qu Q.Z.","year":"2000","unstructured":"QuQ.Z., LiuY.Z. and ZhangJ.W., Adaptive model following control of four-wheel steering vehicle, Automotive Engineering22 (2000), 73\u201376.","journal-title":"Automotive Engineering"},{"key":"e_1_3_2_21_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0389-4304(99)00051-X"},{"key":"e_1_3_2_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0389-4304(03)00070-5"},{"key":"e_1_3_2_23_2","doi-asserted-by":"publisher","DOI":"10.4271\/2002-01-1589"},{"key":"e_1_3_2_24_2","doi-asserted-by":"publisher","DOI":"10.4028\/www.scientific.net\/AMR.479-481.1481"}],"container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/JIFS-169178","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.3233\/JIFS-169178","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/JIFS-169178","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T09:38:24Z","timestamp":1777455504000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.3233\/JIFS-169178"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,12,5]]},"references-count":23,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2016,12,5]]}},"alternative-id":["10.3233\/JIFS-169178"],"URL":"https:\/\/doi.org\/10.3233\/jifs-169178","relation":{},"ISSN":["1064-1246","1875-8967"],"issn-type":[{"value":"1064-1246","type":"print"},{"value":"1875-8967","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,12,5]]}}}