Robust handling improvement of four-wheel steering vehicles

Author

Mammar, Said ; Koenig, Damien

Author_Institution

LIVIC/INRETS, Versailles, France

fYear

2001

fDate

4-7 Sept. 2001

Firstpage

1211

Lastpage

1216

Abstract

This paper presents coprime factors and LFT based feedforward and feedback H_∞ control of four wheel steering vehicle handling improvement. Control synthesis uses a linear vehicle model which includes the yaw motion and disturbance input with road adhesion variations. The synthesis procedure allows the separate processing of the robust yaw damping, disturbance rejection and side slip angle minimization or model matching. The control is applied to the rear wheels by combination of the driver input and feedback of the yaw rate. The synthesized controller is tested on a nonlinear model in both disturbance rejection and driver imposed yaw reference tracking maneuvers.

Keywords

H^∞ control; control system synthesis; damping; feedback; feedforward; minimisation; motion control; nonlinear control systems; rational functions; road vehicles; robust control; steering systems; vehicle dynamics; LFT based feedback H_∞ control; LFT based feedforward H_∞ control; coprime factors; disturbance input; disturbance rejection; driver imposed yaw reference tracking maneuvers; driver input; four wheel steering vehicle handling improvement; linear fractional transformation; linear vehicle model; model matching; nonlinear model; road adhesion variations; robust handling improvement; robust yaw damping processing; side slip angle minimization; yaw motion; yaw rate feedback; Adhesives; Feedforward neural networks; Mathematical model; Roads; Robustness; Vehicles; Wheels; Automotive; robust Control; stabilisation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2001 European

Conference_Location

Porto

Print_ISBN

978-3-9524173-6-2

Type

conf

Filename

7076081