An adaptive control system is proposed for a four-wheel steering vehicle, which consists of a friction coefficient estimator, a feedforward compensator and a yaw rate feedback system. The control system has been developed so that the vehicle lateral characteristics should be set suitable even on slippery roads and in critical driving situations. A friction coefficient between tire and road surface is estimated in real-time from the yaw rate response using the method of least squares. The adaptive feedforward compensator minimizes the steady-state and transient vehicle slip angle in spite of changes of road conditions. The yaw rate feedback system, which incorporates a linear compensator with a nonlinear adaptive vehicle model, realizes the desired motion under the influence of disturbances and the existence of the estimation error.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Adaptive yaw rate feedback 4WS with friction coefficient estimator between tire and road surface


    Additional title:

    Ein adaptives Fahrzeuglenksystem mit der Schätzung des Reibungskoeffizienten, mit einer Störgrößenaufschaltung und mit einer Giergeschwindigkeitsrückkopplung


    Contributors:
    Wakamatsu, K. (author) / Akuta, Y. (author) / Ikegaya, M. (author) / Asanuma, N. (author)


    Publication date :

    1996


    Size :

    11 Seiten, 12 Bilder, 5 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Adaptive yaw rate feedback 4WS with friction coefficient estimator between tire and road surface

    Wakamatsu,K. / Akuta,Y. / Ikegaya,M. et al. | Automotive engineering | 1996


    Adaptive Yaw Rate Feedback 4WS with Friction Coefficient Estimator between Tire and Road Surface

    Wakamatsu, K. / Akuta, Y. / Ikegaya, M. et al. | British Library Conference Proceedings | 1996



    Adaptive yaw rate feedback 4WS with tire/road friction coefficient estimator

    Wakamatsu,K. / Akuta,Y. / Ikegaya,M. et al. | Automotive engineering | 1997


    Adaptive yaw rate feedback 4WS with tire/road friction coefficient estimator

    Wakamatsu, K. / Akuta, Y. / Ikegaya, M. et al. | Tema Archive | 1997