Control of yaw rate and sideslip in 4-wheel steering cars with actuator constraints

Miguel A. Vilaplana, Oliver Mason, D.J. Leith, W.E. Leithead

Research output: Contribution to journalArticlepeer-review

16 Citations (Scopus)


In this paper we present a new steering controller for cars equipped with 4-wheel steer-by-wire. The controller commands the front and rear steering angles with the objective of tracking reference yaw rate and sideslip signals corresponding to the desired vehicle handling behaviour. The structure of the controller is based on a simplified model of the lateral dynamics of 4-wheel steering cars. We show that the proposed structure facilitates the design of a robust steering controller valid for varying vehicle speed. The controller, which has been designed using classical techniques according to the Individual Channel Design (ICD) methodology, incorporates an anti-windup scheme to mitigate the effects of the saturation of the rear steering actuators. We analyse the robust stability of the resulting non-linear control system and present simulation results illustrating the performance of the controller on a detailed non-linear vehicle model.
Original languageEnglish
Pages (from-to)201-222
Number of pages21
JournalLecture Notes in Computer Science
Publication statusPublished - 2005


  • 4-wheel steer-by-wire
  • steering controller
  • cars
  • yaw rate
  • sideslip signals


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