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Control of side-slip and yaw rate in cars equipped with 4-wheel steer-by-wire

Vilaplana, Miguel A. and Mason, Oliver and Leith, D.J. and Leithead, W.E. (2005) Control of side-slip and yaw rate in cars equipped with 4-wheel steer-by-wire. Lecture Notes in Computer Science, 3355/2005. pp. 201-222. ISSN 0302-9743

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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: Article
ID code: 28783
Keywords: 4-wheel steer-by-wire, steering controller, cars, yaw rate, sideslip signals, Electrical engineering. Electronics Nuclear engineering, Theoretical Computer Science, Computer Science(all)
Subjects: Technology > Electrical engineering. Electronics Nuclear engineering
Department: Faculty of Engineering > Electronic and Electrical Engineering
Related URLs:
Depositing user: Ms Sheila Campbell
Date Deposited: 11 Nov 2010 12:50
Last modified: 05 Sep 2014 04:44
URI: http://strathprints.strath.ac.uk/id/eprint/28783

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