A steering performance enhancement system for a 4WS car designed to improve the ability of the driver to keep the vehicle on the desired path is described. The system is commanded by the driver to control the front and rear wheel steering. The system is developed on the basis of a single-gain design approach having three goals: first, to guarantee that the lateral acceleration follows the driver's command, second to achieve robust relaxation of the sideslip angle, and third to preserve robust stability. The system designed is independent of the major uncertainties of the car model, namely the car's mass and the road characteristics. The system utilises the general robust triangular decoupling controller, achieving robust decoupling of the front lateral acceleration from the yaw dynamics, and a prefilter that activates the yaw dynamics according to the driver's commands guaranteeing the robust relaxation (reduction) of the sideslip angle.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust control of cars with front and rear wheel steering


    Contributors:

    Published in:

    Publication date :

    2002


    Size :

    11 Seiten, 16 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Robust control of cars with front and rear wheel steering

    Koumboulis, F.N. / Skarpetis, M.G. | IET Digital Library Archive | 2002




    CONTROL METHODS FOR REAR WHEEL STEERING APPARATUS OF CARS

    KIM JONG-MIN | European Patent Office | 2021

    Free access

    Control methods for rear wheel steering apparatus of cars

    KIM JONG MIN | European Patent Office | 2021

    Free access