Inspec keywords: wheels; electric vehicles; cascade control; predictive control; uncertain systems; stability; optimisation

Other keywords: cascaded structure; current sliding mode information; chattering phenomenon; optimisation-based torque allocation algorithm; direct yaw-moment control scheme; sliding mode dynamic prediction; synthesised control law; matched-unmatched uncertainties; four-wheel-independently actuated electric vehicle; lateral stability enhancement; sliding mode prediction control; hardware-in-the-loop tests

Subjects: Stability in control theory; Optimisation techniques; Transportation; Optimisation techniques; Transportation system control