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中文摘要：
基于运动跟踪控制算法，仿真分析了偏移误差和比例误差两种典型的质心侧偏角估计误差对车辆稳定性控制的影响。结果表明，为保证驾驶员操作强度小和车辆稳定性好，质心侧偏角偏移误差不应超过2。，比例误差不应超过20％。只要车辆的稳定性没有受到太大影响，适当低估质心侧偏角能使车辆获得更好的操控性。
英文摘要：
Based on motion tracking control algorithm, the effects of two typical estimation errors, i.e. offset error and proportional error, of CM sideslip angle estimation on vehicle stability control is analyzed by simulation. The results show that for ensuring light driver＇s operation intensity and high stability of vehicle, the offset error of CM sideslip angle should not exceed 2 degrees and its proportional error should not exceed 20% of its real value. Providing there is no much effects on vehicle stability, reasonably underestimated CM sideslip angle can improve the maneuverability of vehicles.
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Vehicle dynamics control of four inwheel motor drive electric vehicle using gain scheduling based on
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