DocumentCode :
3120690
Title :
Robust lateral controller for 4-wheel steer cars with actuator constraints
Author :
Leith, D.J. ; Leithead, W.E. ; Vilaplana, M.
Author_Institution :
Hamilton Institute, National University of Ireland, Maynooth, Ireland.
fYear :
2005
fDate :
12-15 Dec. 2005
Firstpage :
5101
Lastpage :
5106
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 :
Actuators; Automatic control; Control design; Performance analysis; Prototypes; Robust control; Strontium; Vehicle dynamics; Virtual prototyping; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05. 44th IEEE Conference on
Print_ISBN :
0-7803-9567-0
Type :
conf
DOI :
10.1109/CDC.2005.1582971
Filename :
1582971
Link To Document :
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