I. Introduction
Energy and environment Crisis is the fundamental reason for developing electric vehicles [1], [2]. The inexorable march of technical progress in electric vehicles (EVs) makes it spontaneous for more researchers to focus on the research of 4MIDEV, which could facilitate the independent decoupling control of every wheel torque, since four in-wheel motors are installed in four wheels respectively [3], [4]. The dynamics stability and safety of 4MIDEV in extreme conditions could avail itself of stronger direct yaw moment control ability thanks to the driving or regenerative braking mode and torque values of each wheel arbitrarily determined by the more flexible control strategy [5], [6].