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 domonstrated in an advanced simulator.


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    Title :

    Lateral dynamics emulation via a four-wheel steering vehicle


    Additional title:

    Querdynamische Emulation mit Hilfe eines Fahrzeugs mit Vierradlenkung


    Contributors:

    Published in:

    Vehicle System Dynamics ; 46 , 9 ; 803-829


    Publication date :

    2008


    Size :

    27 Seiten, 21 Bilder, 3 Tabellen, 19 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





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