By using the full control concept, zero body sideslip angle and zero body motions can be achieved. In this study, firstly, the governing equations for the six-degree-of-freedom three-wheeled vehicle model, with either two wheels on the front axle or two wheels on the rear axle are developed. With six properly chosen control inputs, there are nine full control modes for the zero body sideslip angle and zero body motion control. The sum of tractive forces, cornering forces or active suspension forces is set as the criterion for evaluating these full control modes. These control modes are compared and discussed for typical driving scenarios, and conclusions are drawn about preferable modes.
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