抄録
This paper proposes a motion control algorithm for an electric vehicle with a large sideslip angle. The proposed control algorithm is derived based on a planar vehicle dynamics with four wheels. A control algorithm for the sideslip angle of the vehicle is derived based on lateral translational motion dynamics of the vehicle using the steer angle of the front wheels as an input. The proposed control algorithm is implemented in a small experimental vehicle, and experimental results illustrate the effectiveness of the proposed motion control algorithm.
