Liu, Hui, et al. “Model Predictive Control System Based on Direct Yaw Moment Control for 4WID Self-Steering Agriculture Vehicle”. International Journal of Agricultural and Biological Engineering, vol. 14, no. 2, Apr. 2021, pp. 175-81, https://ijabe.migration.pkpps06.publicknowledgeproject.org/index.php/ijabe/article/view/5283.