This paper addresses the issue of robustness and closed loop performance of four wheel steering (4WS) vehicles for yaw and lateral maneuvers for fixed and non-fixed speeds. A feedback structure derived from the plant inverse dynamic, such that the vehicle 2×2 matrix transfer function is robust to speed, is proposed. The efficiency of the proposed structure depends on the actuator's bandwidth and non-linearities, and on the sensor delay. A design example which shows how to implement the proposed algorithm in highly uncertain vehicles, subject to actuator bandwidth limitations and sensor delay, is provided.


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    Title :

    Robustness to Speed of 4WS Vehicles for Yaw and Lateral Dynamics


    Contributors:
    YANIV, ODED (author)

    Published in:

    Vehicle System Dynamics ; 27 , 4 ; 221-234


    Publication date :

    1997-04-01


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown



    Robustness to speed of 4WS vehicles for yaw and lateral dynamics

    Yaniv,O. / Univ.Tel Aviv,Dep.of Electrical Engng.Systems,IS | Automotive engineering | 1997





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    Wickens, A.H. | Engineering Index Backfile | 1967