Title :
Dynamics Simulation on Control Technology for 4WS Vehicle Steering Performance
Author :
Rong-hui, Zhang ; Hong-guang, Jia ; Tao, Chen
Author_Institution :
Changchun Inst. of Opt., Fine Mech. & Phys., Chinese Acad. of Sci., Changchun
Abstract :
By combining visual preview kinematics, dynamic equation of steering system and 2-DOF steering dynamistic model of 4WS, we establish the two degree of freedom model of four-wheel steering vehicle. And then the switching hyper plane is designed by applying the optimal control theory. During the change of parameter is little, 4WS steering performance is carried out by adopting sliding variable structure controller. To improve the steering performance of 4WS, especially state variables convergent velocity, Kalman filter for 4WS is designed. And the robust optimal controller is designed for model and parameter is uncertainty. The simulation results show that the controller designed by the proposed method has good robustness; it can easily attenuate the change and uncertainty of model.
Keywords :
Kalman filters; control system synthesis; optimal control; road vehicles; robust control; steering systems; uncertain systems; variable structure systems; vehicle dynamics; 4-wheel steering vehicle; 4WS vehicle steering performance; Kalman filter; control technology; dynamic equation; dynamics simulation; robust optimal controller; sliding variable structure controller; uncertainty; visual preview kinematics; Automatic control; Control systems; Equations; Kinematics; Optimal control; Robust control; Sliding mode control; Steering systems; Vehicle dynamics; Vehicles; Four-wheel vehicle; Kalman filter; Robust optimal control; Slide variable structure control; The linear quadratic form optimal control theory;
Conference_Titel :
Computing, Communication, Control, and Management, 2008. CCCM '08. ISECS International Colloquium on
Conference_Location :
Guangzhou
Print_ISBN :
978-0-7695-3290-5
DOI :
10.1109/CCCM.2008.57
