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

M. Vilaplana, O. Mason, D.J. Leith, W.E. Leithead

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

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
Title of host publicationSwitching and Learning in Feedback Systems
PublisherSpringer-Verlag
Pages201-222
Number of pages21
ISBN (Print)978-3-540-24457-8
DOIs
Publication statusPublished - 2005

Publication series

NameLecture Notes in Computer Science
PublisherSpringer
Volume3355
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Fingerprint

Four wheel steering
Railroad cars
Actuators
Controllers
Wheels
Nonlinear control systems
Wire

Keywords

  • steering controller
  • -wheel steer-by-wire
  • steering angles
  • yaw rate
  • sideslip
  • actuator constraints

Cite this

Vilaplana, M., Mason, O., Leith, D. J., & Leithead, W. E. (2005). Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints. In Switching and Learning in Feedback Systems (pp. 201-222). (Lecture Notes in Computer Science ; Vol. 3355). Springer-Verlag. https://doi.org/10.1007/978-3-540-30560-6_9
Vilaplana, M. ; Mason, O. ; Leith, D.J. ; Leithead, W.E. / Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints. Switching and Learning in Feedback Systems. Springer-Verlag, 2005. pp. 201-222 (Lecture Notes in Computer Science ).
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Vilaplana, M, Mason, O, Leith, DJ & Leithead, WE 2005, Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints. in Switching and Learning in Feedback Systems. Lecture Notes in Computer Science , vol. 3355, Springer-Verlag, pp. 201-222. https://doi.org/10.1007/978-3-540-30560-6_9

Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints. / Vilaplana, M.; Mason, O.; Leith, D.J.; Leithead, W.E.

Switching and Learning in Feedback Systems. Springer-Verlag, 2005. p. 201-222 (Lecture Notes in Computer Science ; Vol. 3355).

Research output: Chapter in Book/Report/Conference proceedingChapter

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AB - 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.

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KW - -wheel steer-by-wire

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KW - sideslip

KW - actuator constraints

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Vilaplana M, Mason O, Leith DJ, Leithead WE. Control of yaw rate and sideslip in four-wheel steering cars with actuator constraints. In Switching and Learning in Feedback Systems. Springer-Verlag. 2005. p. 201-222. (Lecture Notes in Computer Science ). https://doi.org/10.1007/978-3-540-30560-6_9