# Torque Fault-Tolerant Hierarchical Control of 4WID Electric Vehicles Based on Improved MPC and SMC

> Research article (IEEE Access, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4388952995](https://www.wikidata.org/wiki/openalex:W4388952995)  
**Source**: https://4ort.xyz/entity/torque-fault-tolerant-hierarchical-control-of-4wid-electric-vehicles-based-on-improved-mpc-and-smc