Paper Title
Dynamic behaviour of Four-Wheel-Steering Ground Vehicle using 9DOF Model Under Steering Input considering Roll, Yaw and Pitch

Abstract
Deriving the equations of motions for a ground vehicle needs to be based on assumptions which has been provided in the first part of this article and then it is followed by deriving 9 equations of motions including Roll, Pitch, Yaw, Lateral Equation of motion, Vertical Displacement of 4 un-sprung masses and one for the sprung mass for a passive suspension system considering a linear tire model. This model is then used to make steering effect comparison between 4WS and 2WS.Results show that a 4WS can avoid the obstacle without changing its heading. Besides, lateral displacement under same steering input is higher than in 2WS.The model can also consider the signal coming from the road. Keywords - Four Wheel Steering Vehicle, Roll, Yaw, Pitch, 9 DOF Vehicle Dynamics