Trajectory　following　is　an　important　function　of　autonomous　vehicles.　To　enable　a　four-wheel　independent　drive　electric　vehicle　to　precisely　follow　a　predefined　or　real-time　generated　trajectory　with　good　lateral　stability　and　ride　comfort　at　high　velocity,　a　model　predictive　control　(MPC)　scheme　with　feedback　compensation　considering　model　mismatch　is　proposed　in　this　paper　to　coordinate　the　direct　yaw-moment　control　and　active　front　steering.　The　system　input　signal　computed　by　model　predictive　control　is　corrected　by　the　feedback　compensation　to　cope　with　the　model　mismatch　existing　between　the　controlled　vehicle　and　the　nominal　model.　Moreover,　co-simulation　is　carried　out　between　the　software　MATLAB/Simulink　and　Carsim　to　verify　the　proposed　method.　In　comparison,　the　integration　of　the　direct　yaw-moment　control　and　active　front　steering　through　model　predictive　control　can　overcome　the　non-smooth　problem　of　vehicle　dynamics　while　implementing　the　active　front　steering　only.　However,　the　value　of　the　external　yaw　moment　computed　by　the　model　predictive　controller　might　be　too　large　due　to　the　predictive　error　in　extreme　situations,　which　could　endanger　the　vehicle.　The　results　reveal　that　the　proposed　model　predictive　control　scheme　with　feedback　compensation　can　effectively　compensate　the　front　steering　angle　and　enhance　the　control　effect.　Therefore,　it　can　significantly　improve　the　trajectory　following　accuracy　and　yaw　stability.　©　IMechE　2022.