In this paper, we examine the lateral dynamics emulation capabilities of an automotive vehicle equipped with four-wheel steering. We first demonstrate that the lateral dynamics of a wide range of vehicles can be emulated, either with little or with no modification on the test vehicle. Then we discuss a sliding mode controller for active front and rear wheel steering, in order to track some given yaw rate and side-slip angle. Analytically, it is shown that the proposed controller is robust to plant parameter variations by±10%, and is invariant to unmeasurable wind disturbance. The performance of the sliding mode controller is evaluated via computer simulations to verify its robustness to vehicle parameter variations and delay in the loop, and its insensitivity to wind disturbance. Finally, the emulation of a bus, a van, and two commercially available passenger vehicles is demonstrated in an advanced nonlinear simulator.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Lateral dynamics emulation via a four-wheel steering vehicle


    Contributors:

    Published in:

    Vehicle System Dynamics ; 46 , 9 ; 803-829


    Publication date :

    2008-09-01


    Size :

    27 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





    Lateral dynamics emulation via a four-wheel steering vehicle

    Akar, Mehmet / Kalkkuhl, Jens C. | Tema Archive | 2008


    Lateral dynamics emulation via a four-wheel steering vehicle

    Akar,M. / Kalkkuhl,J.C. / Bogazici Univ.,TR et al. | Automotive engineering | 2008


    Decoupling of vehicle lateral dynamics using four-wheel steering system

    Jan, Bc. Belak / Tomas, Ing. Hanis | IEEE | 2021


    FOUR-WHEEL STEERING VEHICLE

    TOTSUKA YUJI | European Patent Office | 2019

    Free access