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

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

doi:10.1109/CDC.2005.1582971

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

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

Electronic And Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

19 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.

Original language	English
Title of host publication	Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05
Publisher	IEEE
Pages	5101-5106
Number of pages	6
ISBN (Print)	0-7803-9567-0
DOIs	https://doi.org/10.1109/CDC.2005.1582971
Publication status	Published - Dec 2005
Event	44th IEEE Conference on Decision and Control/European Control Conference - Seville, Spain Duration: 12 Dec 2005 → …

Conference

Conference	44th IEEE Conference on Decision and Control/European Control Conference
City	Seville, Spain
Period	12/12/05 → …

Keywords

automatic control
control design
actuators
performance analysis
vehicle dynamics

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10.1109/CDC.2005.1582971

Cite this

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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.",

keywords = "automatic control, control design, actuators, performance analysis, vehicle dynamics",

author = "D.J. Leith and W.E. Leithead and M. Vilaplana",

year = "2005",

month = dec,

doi = "10.1109/CDC.2005.1582971",

language = "English",

isbn = "0-7803-9567-0 ",

pages = "5101--5106",

booktitle = "Proceedings of the 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05",

publisher = "IEEE",

note = "44th IEEE Conference on Decision and Control/European Control Conference ; Conference date: 12-12-2005",

}

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

TY - GEN

T1 - Robust lateral controller for four-wheel steer cars with actuator constraints

AU - Leith, D.J.

AU - Leithead, W.E.

AU - Vilaplana, M.

PY - 2005/12

Y1 - 2005/12

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

U2 - 10.1109/CDC.2005.1582971

DO - 10.1109/CDC.2005.1582971

M3 - Conference contribution book

SN - 0-7803-9567-0

SP - 5101

EP - 5106

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

PB - IEEE

T2 - 44th IEEE Conference on Decision and Control/European Control Conference

Y2 - 12 December 2005

ER -

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

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Keywords

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