The vehicle dynamics and control play an important role in an automated highway system for passenger cars. This study addresses the problem of designing active controllers for four-wheel-steering (4WS) vehicles. We first obtain a set of linear maneuvering equations representing the four-wheel steering motions and independent wheel torques for lateral/directional plus roll dynamics. We then formulate simultaneous H2 and Hinfinite (sub)-optimal controls with a desired pole assignment via linear matrix inequalities (LMIs). The steering angels are actively controlled by steering whell commands through the actuator mechanism for the lateral/directional and roll motions. Further the wheel power and braking are directly controlled by independent torques. Numerical simulations are performed on a complex vehicle model in order to evaluate the vehicle performance (noise and disturbance attenuation), stability, and robustness under a given class of uncertainty. Finally, the presented autopilot controller provides greater maneuverability and improved directional stability for passenger vehicles.
Multi-objective control synthesis: an application to 4WS passenger vehicles
Mehrkriterien-Reglerentwurf: eine Anwendung auf allradgelenkte Personenkraftwagen
Mechatronics ; 9 , 4 ; 363-390
1999
28 Seiten, 14 Bilder, 1 Tabelle, 21 Quellen
Aufsatz (Zeitschrift)
Englisch
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