In this paper, we study a four-wheel, individual steering and four-wheel, individually driven, electric chassis, named the flexible chassis. A 2-FOF nonlinear steering model for the flexible chassis is established based on the “magic formula” tire model and the Ackermann steering theorem at low speed. Also, a new control method based on the fuzzy strategy is proposed for its sideslip angle control. The left front-wheel steering angle is inputted into the simulation of the vehicle, and the left-rear wheel angle is controlled by the fuzzy controller to make the sideslip angle zero. Also, the remaining steering angle of the other two wheels, which meet the Ackermann theorem, are adjusted. Comparisons between simulations of the front-wheel steering, four-wheel, proportional steering and the newly proposed steering indicate that the new control algorithm in this paper is effective.
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