Abstract
This paper proposes a new design method of nonlinear control system which integrates active four wheel steering and four wheel torques control. The theory for continuous time nonlinear predictive control is applied to the design of the control system. The advantages of coordination of four wheel steering and individual wheel torques control are demonstrated through a series of computer simulations. The simulations in which the driver dynamic taking into account are also carried out. The results of the simulation show that the vehicle maneuverability and stability can be remarkably improved even in a near limit cornering condition by the proposed nonlinear control system.