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 2x2 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


    Additional title:

    Richtungsstabilität in Abhängigkeit der Geschwindigkeit eines Fahrzeugs mit Vierradlenkung


    Contributors:
    Yaniv, O. (author)

    Published in:

    Vehicle System Dynamics ; 27 , 4 ; 221-234


    Publication date :

    1997


    Size :

    14 Seiten, 6 Bilder, 10 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    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


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

    YANIV, ODED | Taylor & Francis Verlag | 1997



    Recent developments in lateral dynamics of high speed railway vehicles

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