Comments on “Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles”

The commented paper “Model-Independent Adaptive Fault-Tolerant Output Tracking Control of 4WS4WD Road Vehicles” (IEEE
Transactions on Intelligent Transportation Systems
, vol. 14, no. 1, pp. 169–179, Mar. 2013) has multiple errors in its mathematical model. Because these errors, if left uncorrected, are a potential source of future errors in the emerging area of four-wheel steering four-wheel drive vehicles, this paper provides detailed discussions and corrections.