Lateral Stability Control of Four-Wheel Independent Drive Electric Vehicles Based on Model Predictive Control

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2018/6080763/figures/6080763.fig.0010a.svgz" name="6080763.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Steering wheel angle</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2018/6080763/figures/6080763.fig.0010b.svgz" name="6080763.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Yaw rate</td></tr></table>

<div>Double lane-change test results with DOB-based stability control.</div>

Mathematical Problems in Engineering

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Figure 10

Figure 10: Lateral Stability Control of Four-Wheel Independent Drive Electric Vehicles Based on Model Predictive Control 