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

Table 2

Electric powertrain parameters.

Rated power	8 kw
Rated speed	2960 rpm
Rated torque	26 Nm
Peak torque	78 Nm
Maximum speed	8000 rpm
Gearing efficiency	96%
Ratio of gear reducer	0.7