A Four-Wheel Steer-by-Wire Control Method Based on the Guaranteed Cost Control Theory

DOI

10.2991/cisia-15.2015.58How to use a DOI?

Keywords

4W steer-by-wire; feed-forward control; guaranteed cost control;handling stability

Abstract

Based on front wheel steering vehicles, the ideal yaw rate model was constructed. Four-wheel (4W) steer-by-wire control model of two-degree-of-freedom (DOF) was taken as the study object, according to characteristics of vehicle constant speed and steady-state conditions, the zero sideslip angle and idea yaw rate were regarded as conditions to solve 4W steer-by-wire feed-forward controller. Taking vehicle mass, moment of inertia and tire cornering stiffness as control model perturbation items, the guaranteed cost control theory was adopted to design feed-back controller. For simulation tests, the input method of angle step was used to evaluate performances of the system model tracking ideal states. The track of snake lane was chosen to make real vehicle road tests. The results show that controllers have a good tracking accuracy for ideal states of vehicle.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - T.T Zhang
AU  - T. Zhou
PY  - 2015/06
DA  - 2015/06
TI  - A Four-Wheel Steer-by-Wire Control Method Based on the Guaranteed Cost Control Theory
BT  - Proceedings of the International Conference on Computer Information Systems and Industrial Applications
PB  - Atlantis Press
SP  - 218
EP  - 221
SN  - 2352-538X
UR  - https://doi.org/10.2991/cisia-15.2015.58
DO  - 10.2991/cisia-15.2015.58
ID  - Zhang2015/06
ER  -