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Strathprints serves world leading Open Access research by the University of Strathclyde, including research by the Strathclyde Institute of Pharmacy and Biomedical Sciences (SIPBS), where research centres such as the Industrial Biotechnology Innovation Centre (IBioIC), the Cancer Research UK Formulation Unit, SeaBioTech and the Centre for Biophotonics are based.

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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.