Fuzzy Rule-Based Optimal Direct Yaw Moment Allocation for Stability Control of Four-Wheel Steering Mining Trucks

Wang, Feiyu; Liu, Jiadian; Li, Jiaqi; Zhao, Xinxin

doi:10.3390/app151810155

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Fuzzy Rule-Based Optimal Direct Yaw Moment Allocation for Stability Control of Four-Wheel Steering Mining Trucks

¹

School of Transportation Science and Engineering, Beihang University, Beijing 100191, China

²

School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083, China

^*

Author to whom correspondence should be addressed.

Appl. Sci. 2025, 15(18), 10155; https://doi.org/10.3390/app151810155

Submission received: 18 July 2025 / Revised: 24 August 2025 / Accepted: 15 September 2025 / Published: 17 September 2025

(This article belongs to the Section Transportation and Future Mobility)

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Abstract

To address the poor trajectory tracking of mining trucks in narrow, high-curvature paths, this study explores the impact of four-wheel steering (4WS) and direct yaw moment control (DYC) on vehicle stability. A validated two-degree-of-freedom 4WS vehicle model was developed. A fuzzy logic controller with dual inputs (yaw rate and yaw angular acceleration) and a single output (compensatory yaw moment) was designed, alongside an optimal torque distribution controller based on tire friction circle theory to allocate the resultant yaw moment. A co-simulation platform integrating TruckSim and MATLAB/Simulink was established, and experiments were conducted under steady-state and double-lane-change conditions. Comparative analysis with traditional front-wheel steering and alternative control methods reveals that the 4WS mining truck with fuzzy-controlled optimal torque distribution achieves a reduced turning radius, enhancing maneuverability and stability. Hardware-in-the-loop (HIL) testing further validates the controller’s effectiveness in real-time applications.

Keywords: fuzzy control; optimal torque distribution; four-wheel steering; stability control

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MDPI and ACS Style

Wang, F.; Liu, J.; Li, J.; Zhao, X. Fuzzy Rule-Based Optimal Direct Yaw Moment Allocation for Stability Control of Four-Wheel Steering Mining Trucks. Appl. Sci. 2025, 15, 10155. https://doi.org/10.3390/app151810155

AMA Style

Wang F, Liu J, Li J, Zhao X. Fuzzy Rule-Based Optimal Direct Yaw Moment Allocation for Stability Control of Four-Wheel Steering Mining Trucks. Applied Sciences. 2025; 15(18):10155. https://doi.org/10.3390/app151810155

Chicago/Turabian Style

Wang, Feiyu, Jiadian Liu, Jiaqi Li, and Xinxin Zhao. 2025. "Fuzzy Rule-Based Optimal Direct Yaw Moment Allocation for Stability Control of Four-Wheel Steering Mining Trucks" Applied Sciences 15, no. 18: 10155. https://doi.org/10.3390/app151810155

APA Style

Wang, F., Liu, J., Li, J., & Zhao, X. (2025). Fuzzy Rule-Based Optimal Direct Yaw Moment Allocation for Stability Control of Four-Wheel Steering Mining Trucks. Applied Sciences, 15(18), 10155. https://doi.org/10.3390/app151810155

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Fuzzy Rule-Based Optimal Direct Yaw Moment Allocation for Stability Control of Four-Wheel Steering Mining Trucks

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