MURAL - Maynooth University Research Archive Library



    Non-linear control of four-wheel steering cars with actuator constraints


    Vilaplana, Miguel A. and Mason, Oliver and Leith, Douglas J. and Leithead, William E. and Kalkkuhl, Jens (2004) Non-linear control of four-wheel steering cars with actuator constraints. IFAC Proceedings Volumes, 37 (13). pp. 937-042. ISSN 1474-6670

    [img]
    Preview
    Download (707kB) | Preview


    Share your research

    Twitter Facebook LinkedIn GooglePlus Email more...



    Add this article to your Mendeley library


    Abstract

    This paper presents a new non-linear steering controller for cars equipped with 4-wheel steer-by-wire that tracks reference sideslip and yaw rate signals describing the desired lateral dynamics. The proposed controller automatically rejects any disturbances in sideslip and yaw-rate, and incorporates an anti-windup scheme to reduce the effects of the saturation of the rear steering actuators. The control design is based on the Individual Channel Analysis and Design (ICAD) methodology. An analysis of the robust stability of the control system is presented. Results from a detailed non-linear simulation model are given to illustrate the controller's performance.

    Item Type: Article
    Keywords: Vehicle dynamics; Automotive control; Actuator saturation; Integrator windup; Stability analysis;
    Academic Unit: Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 10157
    Identification Number: https://doi.org/10.1016/S1474-6670(17)31346-0
    Depositing User: Oliver Mason
    Date Deposited: 25 Oct 2018 13:56
    Journal or Publication Title: IFAC Proceedings Volumes
    Publisher: Elsevier
    Refereed: Yes
    URI:

    Repository Staff Only(login required)

    View Item Item control page

    Downloads

    Downloads per month over past year