Title :
Decoupling Control Algorithms for 4WS Vehicles
Author :
Skarpetis, Michael G. ; Koumboulis, Fotios N. ; Barmpokas, Fokionas S. ; Chamilothoris, George E.
Author_Institution :
Dept. of Autom., Halkis Inst. of Technol.
Abstract :
The problem of controlling the steering motion of four-wheel-steering (4WS) vehicles is studied using decoupling control algorithms. The vehicle (lateral/directional plus roll dynamics) model is controlled using a static state feedback law with static precompensator. The main goal is to independently control the steering angle and the sideslip angle of the vehicle. Necessary and sufficient conditions for the solution of the decoupling problem are presented. Analytic expressions of the controllers solving the steering - sideslip angle decoupling problem are derived. The form of diagonal decoupled closed loop system is presented. Simulation results illustrate the effectiveness of the controllers to a disturbed environment
Keywords :
closed loop systems; motion control; state feedback; steering systems; vehicle dynamics; decoupling control algorithm; diagonal decoupled closed loop system; four-wheel-steering vehicle; sideslip angle decoupling problem; static precompensator; static state feedback law; steering motion; vehicle model; Automatic control; Automation; Feedback; Motion control; Road vehicles; Robust control; Space vehicles; Sufficient conditions; Vehicle dynamics; Vehicle safety;
Conference_Titel :
Mechatronics, 2006 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-9712-6
Electronic_ISBN :
0-7803-9713-4
DOI :
10.1109/ICMECH.2006.252578