Direct yaw moment-based vehicle stability control system for eight-wheeled vehicles

This paper presents a vehicle stability control system using a direct yaw moment control for a vehicle with an eight-wheeled independent driving/braking and a four-wheeled steering system. The controller was designed based on a hierarchical control structure comprised of upper- and lower-layer contr...

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Bibliographic Details
Published inInternational journal of dynamics and control Vol. 13; no. 9
Main Authors Zakaria, M. S. M., Singh, A. S. P., Aras, M. S. M.
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.09.2025
Springer Nature B.V
Subjects
Braking
Complexity
Control
Control and Systems Theory
Control stability
Control systems
Dynamical Systems
Engineering
Errors
Force distribution
Fuzzy control
Fuzzy logic
Optimization
Sideslip
Stability
Tire force
Vibration
Workload
Workloads
Yawing moments
Direct yaw moment
Fuzzy logic control
Optimal tyre force distribution
Vehicle stability control
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ISSN2195-268X
2195-2698
DOI10.1007/s40435-025-01811-6

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Summary:This paper presents a vehicle stability control system using a direct yaw moment control for a vehicle with an eight-wheeled independent driving/braking and a four-wheeled steering system. The controller was designed based on a hierarchical control structure comprised of upper- and lower-layer controllers. Two single-input fuzzy logic controllers were employed in the upper-layer controller to determine the desired direct yaw moment based on the errors between the desired and actual yaw rates and sideslip angles. A desired vehicle model was used to compute the desired sideslip angle and yaw rate. To distribute the desired direct yaw moment, an optimal tyre force distribution technique, known as a two-stage weighted square sum minimisation (WSSM) of tyre workload, was employed in the lower layer to ensure the efficient allocation of longitudinal tyre forces while minimising the tyre workload. Matlab/Simulink simulations were conducted to assess the performance of the control system in maintaining vehicle stability during step-steer and braking-in-turn manoeuvres. The simulation results demonstrated that the two-stage WSSM of tyre workload outperformed the ordinary WSSM of tyre workload and achieved smaller root mean square errors for yaw rate and sideslip angle and a lower maximum tyre workload.
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ISSN:2195-268X
2195-2698
DOI:10.1007/s40435-025-01811-6