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August 13, 2026World Electric Vehicle JournalOpen Access

Online Parameter-Reconfigured Model Predictive Control for Integrated Trajectory Tracking of Distributed Four-Wheel Steering Vehicles

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Overview

Randomized trial investigates trajectory tracking in four-wheel steering vehicles, suggesting better control mechanisms.

Key Points

  • This study aims to improve trajectory tracking and stability control for distributed-drive four-wheel-steering vehicles.
  • Investigated an adaptive prediction and control horizon adjustment (APCHA) strategy for MPC.
  • Utilized a torque allocation method for direct yaw moment control based on tire loads.
  • Performed CarSim–Simulink co-simulation to evaluate the proposed control strategy.
  • The proposed Improved MPC-4WS controller reduced maximum lateral tracking error by 34.9% at 60 km/h and μ=0.5 when compared to conventional MPC-4WS controller.
  • The ablation study validated the hierarchical architecture's effectiveness and contributions of DYC module and torque allocation strategy.

Cite This Study

A 2026 study studied this question.

synapsesocial.com/papers/6a7d75d82b0e0cff3f63ec0chttps://doi.org/10.3390/wevj17080420
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Also Consider

Synapse has enriched 3 closely related papers on similar clinical questions. Consider them for comparative context:

  1. 1Fuzzy-based adaptive prediction horizon nonlinear model predictive control for vehicle trajectory tracking2026 · 2 citations
  2. 2Path Following Control of Four‐Wheel Independent Steering Vehicles Considering Variable Adhesion Characteristics of Intermittent Ice‐Snow Roads2026 · 1 citations
  3. 3Online Estimation of Load Torque and Moment of Inertia Incorporating Extended Disturbance Observer With Trigger2024 · 15 citations