Vehicles equipped with articulated steering systems have advantages such as low
energy consumption, simple structure, and excellent maneuverability. However,
due to the specific characteristics of the system, these vehicles often face
challenges in terms of lateral stability. Addressing this issue, this paper
leverages the precise and independently controllable wheel torques of a hub
motor-driven vehicle. First, an equivalent double-slider model is selected as
the dynamic control model, and the control object is rationalized. Subsequently,
based on the model predictive control method and considering control accuracy
and robustness, a weight-variable adaptive model predictive control approach is
proposed. This method addresses the optimization challenges of multiple systems,
constraints, and objectives, achieving adaptive control of stability,
maneuverability, tire slip ratio, and articulation angle along with individual
wheel torques during the entire steering process of the vehicle. Finally, the
effectiveness of the controller is validated through hardware-in-the-loop
testing, and the data indicates that the proposed adaptive model predictive
controller significantly enhances the vehicle’s handling stability.