Abstract
This paper is concerned with motion control of an experimental electric vehicle. A research and development project has been undertaken to make an experimental electric vehicle with four independently driven and steered wheels. The vehicle has advanced dynamic control capability, optimizing the inherent advantages of the electric vehicle which is powered by electric motors. In order to obtain improved vehicle handling performance in a 4WS-4WD mode, which is a major feature of the vehicle, the rear-wheel steering system and the traction force differentials between right and left wheels are adopted as the control methods. The effectiveness of the proposed controls is shown by computer simulation.
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