We propose an H∞ dynamics controller for an all-wheel independent steering. A norm-bounded method is used to describe the uncertainties in the system. A new reference model aimed at minimising the yaw rate and making the sideslip angle remain the same as the target sideslip angle is proposed; this will help especially when a vehicle changes lanes. Simulation and experimental results indicate that the controller can help improve the handling stability and correct directional problems when the vehicle's direction is changed by the steering angle.
Robust H∞ state feedback control for handling stability of intelligent vehicles on a novel all-wheel independent steering mode
IET Intelligent Transport Systems ; 13 , 10 ; 1579-1589
2019-08-28
11 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
reference model , vehicle dynamics , target sideslip angle , norm-bounded method , vehicle changes lanes , steering systems , H<sup>∞</sup> control , steering angle , intelligent vehicles , mechanical stability , all-wheel independent steering mode , state feedback , H<sub>∞</sub> dynamics controller , experimental results , yaw rate minimisation , robust control , handling stability , robust H<sub>∞</sub> state feedback control
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