Coprime factors and LFT a (Linear Fractional Transformation) based feedforard and feedback Hinfinity control is presented for four wheel steering vehicle handling improvement. The control synthesis uses a linear vehicle model which includes the yaw motion and disturbance input with road adhesion variations. The synthesis procedure allows the separate processing of the robust yaw damping, disturbance rejection and side slip angle minimization or model matching. The control is applied to the rear wheels by combination of the driver input and feedback of the yaw rate. The synthesized controller is tested on a nonlinear model in both disturbance rejection and driver imposed yaw reference tracking maneuvers. All simulations are conducted on the nonlinear model and two different speed and road adhesion, dry and wet, are considered. Controller performances are assessed on two typical maneuvers where the controlled vehicle which combines feedforward and feedback controllers is found to exhibit better performance and stability properties. In addition the chosen control structure can be made speed scheduled easily.
Robust handling improvement of four-wheel steering vehicles
Robuste Regelung von Vierradfahrzeugen gegen seitliche Windbelastung
ECC, European Control Conference, 2001 ; 1211-1216
2001
6 Seiten, 8 Bilder, 8 Quellen
Conference paper
Storage medium
English
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