A Yaw Stability Control Algorithm for Four-Wheel Independently Actuated Electric Ground Vehicles considering Control Boundaries

Table 1

Vehicle system parameters.

Vehicle mass		1486 kg
Yaw moment of inertia		2023 kg/m^2
c.g. distance to front axle		1.016 m
c.g. distance to rear axle		1.562 m
Front track width		1.539 m
Rear track width		1.544 m
Wheel radius		0.298 m