Adaptive Active Rear-Wheel Steering Control for Vehicles Traction Control System: An High-Order Fully Actuated Systems Approach

Lateral-longitudinal stability control constitutes one of the core propositions in chassis control, encompassing slip ratio control and vehicle yaw stability management. Compared with traditional control methods based on state-space equations, this study employs a High-Order Fully-Actuated (HOFA) system framework. Through order elevation and dimension reduction techniques, the Active Rear Steering (ARS) system is transformed into a HOFA system. An adaptive HOFA controller is designed and coordinated with a HOFA-based sliding mode controller specifically developed for slip ratio control, achieving integrated lateral-longitudinal stability regulation. Stability analysis and parameter design are conducted for the proposed controllers, while their practical effectiveness is validated through MATLAB/Simulink-CarSim co-simulations, demonstrating the utility of the fully-actuated control methodology.