A desirable vehicle model with the best performance of side slip Angle and yawrate is established through connecting direct yaw moment control (DYC) with four wheel steering (4ws) system.
A coordinated control scheme of 4ws and active suspension based on yawrate tracking is proposed, which distributes the control force between front and rear active suspensions and hen.
Based on fuzzy control principle. The fuzzy controller of feedback control of yawrate and the fuzzy controller of feedback control of side slip Angle were designed.