A new logic for a robust ARS (Active Rear Steering) system is presented. It maintains good control performance even if the vehicle parameters and/or road surface conditions are changed. This system makes the vehicle to follow the desired dynamic model by the state feedback of both yaw rate and side slip angle. To utilize noisy yaw rate sensor and also to keep high robust control performance, a model matching controller with frequency dependent gain characteristics was designed by synthesis. To estimate the side slip angle using a noisy sensor, a new observer applying frequency filter was introduced. Results of various simulations and actual tests prove the great effect of the new ARS system.
Development of robust active rear steering control
Entwicklung eines robusten aktiven Hinterradlenksystems
1996
17 Seiten, 19 Bilder, 7 Quellen
Aufsatz (Konferenz)
Englisch
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