Design of an Anti-Windup PID Algorithm for Differential Torque Steering Systems

Table 1

Vehicle parameters.

Parameter	Value	Unit
Vehicle mass	1704.7	kg
Yawing moment inertia	3048.1	kg·m^2
Front tire cornering stiffness	−49412	N/rad
Rear tire cornering stiffness	−47642	N/rad
Distance between the front axle and CG	1.035	m
Distance between the rear axle and CG	1.675	m
Rotation moment inertia of the wheel	2.5	kg·m^2
Wheel radius	0.313	m