In this paper, a new approach for the design of the nonlinear controller for active four wheel steering and independently controlled braking is proposed. The control algorithm utilizes a non-linear predictive control theory which is formulated through the general state space representations in order to adapt to different vehicle structures. The validity of the control system is demonstrated through the computer simulations. The results of this study can be summarized as follows: 1) By coordinating the four wheel steering and independent torque control, the proposed control system makes possible to realize ideal yaw rate and sideslip responses, as well as desired forward speed. 2) A satisfactory robustness of the control system to the variations of road surface conditions was proved. 3) The results of closed loop simulations in which the driver dynamic is taking into account show that the proposed control system improves the stability of the driver-vehicle system. In summary, proposed control system was shown to be a valuable one to the improvements on vehicle maneuverability and preventive safety.


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    Title :

    Integrated control of four wheel steering and wheel torques using nonlinear predictive controller


    Additional title:

    Integrierte Regelung einer Allradlenkung mit einem nichtlinearen prädiktiven Regler


    Contributors:
    Horiuchi, S. (author) / Okada, K. (author) / Nohtomi, S. (author)


    Publication date :

    1998


    Size :

    6 Seiten, 11 Bilder, 1 Tabelle, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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