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Control of Yaw Rate and Sideslip in 4-Wheel Steering Cars with Actuator Constraints
Vilaplana, Miguel A.; Mason, Oliver; Leith, Douglas J.; Leithead, William E.
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.
Keyword(s): Vehicle Speed; Sideslip Angle; Virtual Plant Steering Controller; Common Quadratic Lyapunov Function
Publication Date:
Type: Book chapter
Peer-Reviewed: Yes
Institution: Maynooth University
Citation(s): Vilaplana, Miguel A. and Mason, Oliver and Leith, Douglas J. and Leithead, William E. (2005) Control of Yaw Rate and Sideslip in 4-Wheel Steering Cars with Actuator Constraints. In: Switching and Learning in Feedback Systems. Lecture Notes in Computer Science (LNCS), 3355 . Springer Verlag, pp. 201-222. ISBN 9783540244578
Publisher(s): Springer Verlag
File Format(s): other
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First Indexed: 2018-10-25 06:00:29 Last Updated: 2018-10-25 06:00:29