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    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

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    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:
    Depositing User: Oliver Mason
    Date Deposited: 25 Oct 2018 13:56
    Journal or Publication Title: IFAC Proceedings Volumes
    Publisher: Elsevier
    Refereed: Yes
    Use Licence: This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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