Robust lateral controller for four-wheel steer cars with actuator constraints

Leith, D.J. and Leithead, W.E. and Vilaplana, M.; (2005) Robust lateral controller for four-wheel steer cars with actuator constraints. In: Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. IEEE, Seville, Spain, pp. 5101-5106. ISBN 0-7803-9567-0 (https://doi.org/10.1109/CDC.2005.1582971)

Abstract

In this paper we study a new steering controller for cars equipped with 4-wheel steer-by-wire. The controller commands front and rear steering angles with the objective of tracking reference yaw rate and sideslip signals corresponding to the desired vehicle handling behaviour. The controller compensates for changes in vehicle dynamics with forward speed and incorporates an anti-windup scheme to mitigate the effects of the saturation or failure of the rear steering actuators. We analyse the robust stability and performance of the resulting non-linear control system.

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• Item metadata

  Item type:	Book Section
  ID code:	38040
  Dates:	Date Event December 2005 Published
  Subjects:	Technology > Electrical engineering. Electronics Nuclear engineering
  Department:	Faculty of Engineering > Electronic and Electrical Engineering
  Depositing user:	Pure Administrator
  Date deposited:	29 Feb 2012 16:49
  Last modified:	11 Nov 2024 14:47
  URI:	https://strathprints.strath.ac.uk/id/eprint/38040