A four wheel steering (4WS) feedback control system that simultaneously achieves both body sideslip angle and yaw rate responses always desirable regardless of changes in vehicle dynamics. Quantitative feedback theory (QFT) is offered as the main tool for designing the control law. Inverted decoupling is also employed to make multivariable quantitative feedback design easier. Various nonlinear analysis are carried out and show that the proposed control system is a robust decoupling controller which not only makes body sideslip angle and jaw rate of the vehicle track the desired reference input signals respectively, but also satisfies the requirement of robustness for the control system. The results also indicate that the control system can make it available to realize ideal lateral steering dynamics tracking for vehicles.
Decoupling control of lateral dynamics for 4WS vehicle
Entkopplungskontrolle der Querbewegungen bei Allradfahrzeugen
Journal of Dong Hua University. English Edition ; 20 , 4 ; 154-158
2003
5 Seiten, 8 Bilder, 11 Quellen
Aufsatz (Zeitschrift)
Englisch
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