Robust lateral controller for four-wheel steer cars with actuator constraints

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

16 Citations (Scopus)

Abstract

In this paper we study a new steering controller for cars equipped with 4-wheel steer-by-wire. The controller commands front and rear steering angles with the objective of tracking reference yaw rate and sideslip signals corresponding to the desired vehicle handling behaviour. The controller compensates for changes in vehicle dynamics with forward speed and incorporates an anti-windup scheme to mitigate the effects of the saturation or failure of the rear steering actuators. We analyse the robust stability and performance of the resulting non-linear control system.
LanguageEnglish
Title of host publicationProceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05
PublisherIEEE
Pages5101-5106
Number of pages6
ISBN (Print)0-7803-9567-0
DOIs
Publication statusPublished - Dec 2005
Event44th IEEE Conference on Decision and Control/European Control Conference - Seville, Spain
Duration: 12 Dec 2005 → …

Conference

Conference44th IEEE Conference on Decision and Control/European Control Conference
CitySeville, Spain
Period12/12/05 → …

Fingerprint

Wheels
Railroad cars
Actuators
Controllers
Nonlinear control systems
Wire
Robust stability

Keywords

  • automatic control
  • control design
  • actuators
  • performance analysis
  • vehicle dynamics

Cite this

Leith, D. J., Leithead, W. E., & Vilaplana, M. (2005). Robust lateral controller for four-wheel steer cars with actuator constraints. In Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05 (pp. 5101-5106). IEEE. https://doi.org/10.1109/CDC.2005.1582971
Leith, D.J. ; Leithead, W.E. ; Vilaplana, M. / Robust lateral controller for four-wheel steer cars with actuator constraints. Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. IEEE, 2005. pp. 5101-5106
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title = "Robust lateral controller for four-wheel steer cars with actuator constraints",
abstract = "In this paper we study a new steering controller for cars equipped with 4-wheel steer-by-wire. The controller commands front and rear steering angles with the objective of tracking reference yaw rate and sideslip signals corresponding to the desired vehicle handling behaviour. The controller compensates for changes in vehicle dynamics with forward speed and incorporates an anti-windup scheme to mitigate the effects of the saturation or failure of the rear steering actuators. We analyse the robust stability and performance of the resulting non-linear control system.",
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Leith, DJ, Leithead, WE & Vilaplana, M 2005, Robust lateral controller for four-wheel steer cars with actuator constraints. in Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. IEEE, pp. 5101-5106, 44th IEEE Conference on Decision and Control/European Control Conference, Seville, Spain, 12/12/05. https://doi.org/10.1109/CDC.2005.1582971

Robust lateral controller for four-wheel steer cars with actuator constraints. / Leith, D.J.; Leithead, W.E.; Vilaplana, M.

Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. IEEE, 2005. p. 5101-5106.

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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AU - Vilaplana, M.

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N2 - In this paper we study a new steering controller for cars equipped with 4-wheel steer-by-wire. The controller commands front and rear steering angles with the objective of tracking reference yaw rate and sideslip signals corresponding to the desired vehicle handling behaviour. The controller compensates for changes in vehicle dynamics with forward speed and incorporates an anti-windup scheme to mitigate the effects of the saturation or failure of the rear steering actuators. We analyse the robust stability and performance of the resulting non-linear control system.

AB - In this paper we study a new steering controller for cars equipped with 4-wheel steer-by-wire. The controller commands front and rear steering angles with the objective of tracking reference yaw rate and sideslip signals corresponding to the desired vehicle handling behaviour. The controller compensates for changes in vehicle dynamics with forward speed and incorporates an anti-windup scheme to mitigate the effects of the saturation or failure of the rear steering actuators. We analyse the robust stability and performance of the resulting non-linear control system.

KW - automatic control

KW - control design

KW - actuators

KW - performance analysis

KW - vehicle dynamics

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Leith DJ, Leithead WE, Vilaplana M. Robust lateral controller for four-wheel steer cars with actuator constraints. In Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. IEEE. 2005. p. 5101-5106 https://doi.org/10.1109/CDC.2005.1582971