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.
Robustness to speed of 4WS vehicles for yaw and lateral dynamics
Richtungsstabilität in Abhängigkeit der Geschwindigkeit eines Fahrzeugs mit Vierradlenkung
Vehicle System Dynamics ; 27 , 4 ; 221-234
1997
14 Seiten, 6 Bilder, 10 Quellen
Article (Journal)
English
Robustness of Speed of 4WS Vehicles for Yaw and Lateral Dynamics
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