The middle- and rear-wheel steering angles of a six-wheeled vehicle need to be coordinated with the front-wheel steering angle to obtain the maximum manoeuvrability. A steering control strategy using the linear quadratic regulator technique with integral control is proposed in this paper such that both zero side-slip angle and target yaw rate following can be achieved simultaneously. An estimator to be used with the control law is also designed to provide the estimate of side-slip angle. AutoSim is used to establish a complex vehicle model with tyre dynamics in MATLAB/Simulink. Both open-loop and closed-loop manoeuvres are performed to evaluate the control performance of the proposed strategy.


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    Titel :

    Steering control of six-wheeled vehicles using linear quadratic regulator techniques


    Weitere Titelangaben:

    Lenksteuerung von Sechsradfahrzeugen unter Anwendung linearquadratischer Regler


    Beteiligte:
    Chen, B.C. (Autor:in) / Yu, C.C. (Autor:in) / Hsu, W.F. (Autor:in)


    Erscheinungsdatum :

    2007


    Format / Umfang :

    10 Seiten, 13 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





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