Wheel torque control and active front steer are effective means of improving vehicle handling and stability. In this paper, a vehicle chassis control system that controls both wheel torques at each wheel and front steer has been developed using model predictive control in order to enhance vehicle yaw motion and ability to track the desired trajectory. A simplified nonlinear tire model that is computationally efficient and easy to implement in the control algorithms and an 8 degree of freedom (DOF) vehicle model are used in the controller. The performance of this controller is compared to that based on well known Magic Formula tire model. The effectiveness and limitations of the proposed controller are discussed through simulation.

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