Picture of smart phone in human hand

World leading smartphone and mobile technology research at Strathclyde...

The Strathprints institutional repository is a digital archive of University of Strathclyde's Open Access research outputs. Strathprints provides access to thousands of Open Access research papers by University of Strathclyde researchers, including by Strathclyde researchers from the Department of Computer & Information Sciences involved in researching exciting new applications for mobile and smartphone technology. But the transformative application of mobile technologies is also the focus of research within disciplines as diverse as Electronic & Electrical Engineering, Marketing, Human Resource Management and Biomedical Enginering, among others.

Explore Strathclyde's Open Access research on smartphone technology now...

Control of sideslip and yaw rate in 4-wheel steering car using partial decoupling and individual channel design

Vilaplana, M. and Leith, D.J. and Leithead, W.E. (2003) Control of sideslip and yaw rate in 4-wheel steering car using partial decoupling and individual channel design. In: UNSPECIFIED.

320.pdf - Final Published Version

Download (120kB) | Preview


This paper presents a new steering control structure for cars equipped with 4-wheel steering. This control structure is based on a simplified linear model of the lateral dynamics of such cars and aims to decouple the control of sideslip from the control of yaw rate. The control design is based on a linear multivariable plant which incorporates the model of the lateral dynamics mentioned above and whose inputs are linear combinations of the front and rear steering angles. The plant also contains a cross-feedback element. The matrix transfer function of the resulting plant is upper-triangular (partially decoupled). The MIMO design problem can then be recast as two SISO design problems using channel decomposition according to the Individual Channel Design (ICD) paradigm. The proposed control structure has been applied to design sideslip and yaw rate controllers using a more accurate model of the lateral dynamics of 4-wheel steering cars. This model incorporates the tyre force dynamics and the steering actuators. Simulations are used to illustrate the performance and robustness of the designed controllers.