Multi-layer skid controller design of distributed electric drive mobile platform based on the optimal slip rate to improve its driving stability - Feng Chen; Junjie Ding; Long Chen; Enlai Zheng; Zhitao Luo; Yingtao Lu; Yinyan Shi; Xiaochan Wang; Lianglong Hu; Shanhu Zhao (Journal of Terramechanics, 2026)