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<p>The integration of Four-Wheel Independent Drive and Steering (4WID/4WIS) systems in the form of corner modules represents an emerging trend in intelligent vehicle chassis development. To address the multi-objective challenges of balancing tracking accuracy and vehicle stability, this paper proposes a hierarchical control strategy. In the upper layer, a Multi-Input Multi-Output Linear Quadratic Regulator (MIMO-LQR) controller is designed for path tracking, with its parameters optimized by a Genetic Dung Beetle Optimization (G-DBO) algorithm to enhance system robustness. In the lower layer, a stability control framework is developed, incorporating a Fractional-Order Sliding Mode Control (FOSMC) based yaw moment controller and a stability-oriented torque distribution strategy. The proposed strategy is validated through MATLAB/Simulink and CarSim co-simulations under various operating conditions. Results demonstrate that the proposed approach effectively improves both tracking accuracy and vehicle stability.</p>

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Integrated path tracking & stability control for corner module intelligent vehicles via G-DBO-optimized MIMO-LQR

  • 期刊论文

  • 发表日期：

    2026年3月6日

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  • Yong Zhang,
  • Peicheng Yu,
  • Fengkui Zhao,
  • Maosong Wan,
  • Chengfei Gao

摘要

The integration of Four-Wheel Independent Drive and Steering (4WID/4WIS) systems in the form of corner modules represents an emerging trend in intelligent vehicle chassis development. To address the multi-objective challenges of balancing tracking accuracy and vehicle stability, this paper proposes a hierarchical control strategy. In the upper layer, a Multi-Input Multi-Output Linear Quadratic Regulator (MIMO-LQR) controller is designed for path tracking, with its parameters optimized by a Genetic Dung Beetle Optimization (G-DBO) algorithm to enhance system robustness. In the lower layer, a stability control framework is developed, incorporating a Fractional-Order Sliding Mode Control (FOSMC) based yaw moment controller and a stability-oriented torque distribution strategy. The proposed strategy is validated through MATLAB/Simulink and CarSim co-simulations under various operating conditions. Results demonstrate that the proposed approach effectively improves both tracking accuracy and vehicle stability.