This paper proposes an active four-wheel steering control law that realizes zero sideslip angle and a flat characteristic of frequency response for lateral acceleration at a center of percussion. Furthermore, a model-following sliding mode control system, whose reference model is the linear vehicle model after feedback of the active four-wheel steering law, is added to guarantee robustness against tire nonlinearity, lateral disturbance and actuator failure. Computer simulations with a multi degrees-of-freedom vehicle model verify the robustness and the effectiveness of the proposed system. In the paper the zero sideslip angle and the lateral acceleration control at a center of percussion using the active 4WS law is described. The model-following sliding mode controller for gaining robustness against the system uncertainties is derived. Computer simulations using nonlinear vehicle models demonstrate the effectiveness of the proposed system are outlined. Theoretical analysis confirmed that the control law was robust against system uncertainties such as crosswind disturbance and cornering power perturbations. Moreover, computer simulations using a multi degrees-of-freedom vehicle model demonstrated that the vehicle equipped with the proposed system could run stably even on a slippery road and also had fault tolerance against deterioration of the front steering actuator.
Model-following sliding mode control for active four-wheel steering vehicle
Regelung für eine Allrad-Fahrzeuglenkung
Review of Automotive Engineering (JSAE) ; 25 , 3 ; 305-313
2004
9 Seiten, 6 Bilder, 1 Tabelle, 8 Quellen
Aufsatz (Zeitschrift)
Englisch
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