Picture water droplets

Developing mathematical theories of the physical world: Open Access research on fluid dynamics from Strathclyde

Strathprints makes available Open Access scholarly outputs by Strathclyde's Department of Mathematics & Statistics, where continuum mechanics and industrial mathematics is a specialism. Such research seeks to understand fluid dynamics, among many other related areas such as liquid crystals and droplet evaporation.

The Department of Mathematics & Statistics also demonstrates expertise in population modelling & epidemiology, stochastic analysis, applied analysis and scientific computing. Access world leading mathematical and statistical Open Access research!

Explore all Strathclyde Open Access research...

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, pp. 5101-5106. ISBN 0-7803-9567-0

Full text not available in this repository. Request a copy from the Strathclyde author

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.