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Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints

Vilaplana, M. and Mason, O. and Leith, D.J. and Leithead, W.E. (2005) Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints. In: Switching and Learning in Feedback Systems. Lecture Notes in Computer Science . Springer-Verlag, pp. 201-222. ISBN 978-3-540-24457-8

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Abstract

In this paper we present a new steering controller for cars equipped with 4-wheel steer-by-wire. The controller commands the front and rear steering angles with the objective of tracking reference yaw rate and sideslip signals corresponding to the desired vehicle handling behaviour. The structure of the controller is based on a simplified model of the lateral dynamics of 4-wheel steering cars. We show that the proposed structure facilitates the design of a robust steering controller valid for varying vehicle speed. The controller, which has been designed using classical techniques according to the Individual Channel Design (ICD) methodology, incorporates an anti-windup scheme to mitigate the effects of the saturation of the rear steering actuators. We analyse the robust stability of the resulting non-linear control system and present simulation results illustrating the performance of the controller on a detailed non-linear vehicle model.

Item type: Book Section
ID code: 11932
Keywords: steering controller, -wheel steer-by-wire, steering angles, yaw rate, sideslip, actuator constraints, Electrical engineering. Electronics Nuclear engineering
Subjects: Technology > Electrical engineering. Electronics Nuclear engineering
Department: Faculty of Engineering > Electronic and Electrical Engineering
Related URLs:
    Depositing user: Strathprints Administrator
    Date Deposited: 21 Jul 2011 15:15
    Last modified: 19 Mar 2014 05:19
    URI: http://strathprints.strath.ac.uk/id/eprint/11932

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