Improving Path Tracking Performance of 4WIS Vehicles via Constraint-Oriented Consistent Coordinated Steering

• Introduces a novel four-wheel consistent coordinated steering control for 4WIS vehicles, reconfiguring Ackerman steering relationships as coupling constraints. • Utilizes constraint-following control to achieve uniform boundedness and uniform ultimate boundedness of the Ackerman steering principle constraint error. • Demonstrates through Carsim/Simulink joint simulation that the algorithm ensures approximate satisfaction of the Ackerman steering principle in both transient and steady-state path tracking. • Significantly improves path tracking performance of 4WIS vehicles, reducing tire wear and enhancing safety and efficiency.