This paper proposes an adaptive yaw rate feedback control system for a 4WS (four-wheel-steering) vehicle which involves a tire/road friction coefficient estimator. The adaptive 4WS system has been developed so that the vehicle possesses desirable lateral characteristics even on slippery roads and in critical driving situations. The friction coefficient is estimated on real time from the yaw rate response of the controlled vehicle with the least squares. The control system adopts a two degree of freedom structure which consists of a feedforward compensator and a feedback control subsystem. The feedforward compensator is determined with the estimated friction coefficient to minimize the steady-state and transient vehicle slip angle in spite of changes in tire/road conditions. The feedback subsystem adopts the Internal Model Control (IMC) structure in order to compensate the nonlinearities and to realize robustness against modelling and estimation errors.


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    Title :

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


    Additional title:

    Anpassungsfähiges Kursabweichungs-Regelsystem-Feedback einer Fahrzeug-Vierradlenkungs-Regelung mit Schätzung der Reibbeiwerte


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

    Published in:

    Vehicle System Dynamics ; 27 , 5-6 ; 305-326


    Publication date :

    1997


    Size :

    22 Seiten, 21 Bilder, 19 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Adaptive Yaw Rate Feedback 4WS with Tire/Road Friction Coefficient Estimator

    Wakamatsu, K. / Akuta, Y. / Ikegaya, M. et al. | British Library Conference Proceedings | 1997


    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, KIYOSHI / AKUTA, YOSHIMITSU / IKEGAYA, MANABU et al. | Taylor & Francis Verlag | 1997


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

    Wakamatsu, K. / Akuta, Y. / Ikegaya, M. et al. | Tema Archive | 1996