In this paper, a lateral controller is designed for four-wheel steering (4WS) vehicles. The linear lateral dynamics of 4WS vehicles are deduced and then analysed, aided with three-dimensional graphs. To improve vehicle handling and stability at high speed, a multiobjective H ∞ optimal control algorithm is presented, while yaw rate is the only feedback signal. Simulation shows that the sideslip angle, yaw rate, and lateral acceleration of the 4WS vehicle follow and maintain preferable characteristics. The 4WS vehicle is agile and consistent with the steering input and does not understeer excessively.


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    Title :

    Multi-objective H ∞ optimal control for four-wheel steering vehicle based on yaw rate tracking


    Contributors:
    Lv, H-M (author) / Chen, N (author) / Li, P (author)


    Publication date :

    2004-10-01


    Size :

    7 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English






    Optimal control of four wheel steering vehicle

    Higuchi,A. / Saitoh,Y. / Toyota Motor,JP et al. | Automotive engineering | 1993


    Optimal Control of Four Wheel Steering Vehicle

    Higuchi, A. / Saitoh, Y. / Society of Automotive Engineers of Japan | British Library Conference Proceedings | 1992


    Optimal Control of Four Wheel Steering Vehicle

    HIGUCHI, A.Assistant manager / SAITOH, Y.Emeritus professor of Tokyo University of Agriculture and Technology | Taylor & Francis Verlag | 1993