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.


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    Titel :

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


    Weitere Titelangaben:

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


    Beteiligte:
    Wakamatsu, K. (Autor:in) / Akuta, Y. (Autor:in) / Ikegaya, M. (Autor:in) / Asanuma, N. (Autor:in)


    Erscheinungsdatum :

    1996


    Format / Umfang :

    11 Seiten, 12 Bilder, 5 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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

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


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

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