Vilaplana, Miguel A. and Mason, Oliver and Leith, D.J. and Leithead, W.E. (2005) Control of yaw rate and sideslip in 4-wheel steering cars with actuator constraints. Lecture Notes in Computer Science, 3355/2005. pp. 201-222. ISSN 0302-9743Full text not available in this repository. (Request a copy from the Strathclyde author)
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.
|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|
|Depositing user:||Ms Sheila Campbell|
|Date Deposited:||11 Nov 2010 12:50|
|Last modified:||22 Mar 2017 10:59|