建立独立电动4轮驱动多连杆悬架底盘系统的机电耦合摆振问题非线性颤振动力学模型，关注4轮独立驱动行驶要求的电子差速等电控策略对系统自激颤振的效应；研究对应数学分析及可视化分析方法，使用可把握非线性系统整体特征和局部细节的微分几何方法，包括稳定性分析谱单元法，非双曲平衡点中心流形局部稳定性分析方法，发展参数摄动下奇异性和高阶分叉分析，把握其极限环特征；研究摆振控制和电动车驱动功能控制算法逻辑上应具有的协调；特别研究系统的可镇定性，建模轮胎路面特性和机构间隙等为多源复合不确定性干扰，按ADC方式处理干扰特征导致的高维非线性系统的降维和解耦，局部反馈线性化及局部镇定；针对干扰和参数不确定性，考虑全局镇定和自适应鲁棒控制准则；在获得有效分析方法、把握主要因素和合理控制分配逻辑基础上，研究出能降低系统摆振发生几率和有效应对摆振的底盘机构设计准则和独立电动轮4轮驱动的功能控制逻辑管理策略。

Setup the mechanical-electronic coupling nonlinear self-excited shimmy models for an electric vehicle(EV) which is equipped with the 4 wheels independent wheel-side motors drives and the multi-wishbones suspension chassis. Put more attentions on the self-excited oscillation effects which come from the control strategies for the basic running functions of the vehicle. Those basic functions are necessary for running of a 4-wheel independent motors drived vehicle and all are electric-controlly realized. The functions include the Electric Differential for vehicle corcering, Traction Control System for skidding prevention, Direct Yaw-moment Control for lateral stabilization, etc. Study the mathematics analysis and the visionable simulation methods. The Differential Geometric methods which are suitable to analyze the global and local characteristics details of the nonlinear systems will be used, they include the Spectral Element Method for system stability analysis, the center manifold local stability analysis about the non-hyperbolical equilibrium. Developing the singularity and high order bifurcation analysis under the parameters variation, master the bifurcation and limit circles. Study the needed adaptivity about the system shimmy control and the EV's driving functions control, especially about its stabilization, the dimension decreasing and control decoupling for this high dimension nonlinear system according to the strategies of Anti-Disturbance Control. Modeding the clearances distributied in the mechanism and the variations of the tyre-road relations as the composite multi-source disturbances with the uncertain. The high dimension characteristic of the system is because of those distributied disturbances. The local feedback linearization and local stabilization will be studied as well. Because those composite multi-source uncertain disturbances, the system will have the un-determinated characteristics about its parameters and the disturbance power, so it is necessary to consider the global stabilization and the adpative robust control law. Under the conditions of get the efficient analysis methods, master the main facters and find the reasonable control logic and allocation, we will be able to get the chassis mechanism design law, the control and manage strategies for the basic running functions control of the vehicle, and decrease the probability of the shimmy arise.