Title: Open-loop design for decoupling control of a four-wheel-steering vehicle

Authors: E.C. Yeh, R.-H. Wu

Addresses: Associate Professor, Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30043, Taiwan, ROC. ' Graduate Student, Department of Power Mechanical Engineering, National Tsing Hua University, Hsinchu 30043, Taiwan, ROC

Abstract: In this paper, a four-wheel-steering (4WS) system with multiple inputs is introduced. This multiple-input 4WS system provides the driver with the ability to control the sideslip motion and yaw motion of the vehicle simultaneously and independently. The decoupling control of these two independent motions is accomplished by a steering controller which translates the steering commands into the steer angles of the front and rear wheels. A method to find the inverse transfer matrix of the vehicle in a simple symbolic form is introduced to design the steering controller. By the design method introduced in this paper, the decoupling control of the sideslip and yaw motion can be achieved by three types of controllers for a stable vehicle plant without any signal fed back. The performance of the system under the variations of the vehicle parameters is also investigated via computer simulation.

Keywords: four-wheel-steering; 4WS; multiple-input multiple-output system; decoupling control; steering control; controller design; computer simulation; yaw motion; vehicle design.

DOI: 10.1504/IJVD.1989.061547

International Journal of Vehicle Design, 1989 Vol.10 No.5, pp.531 - 552

Published online: 26 May 2014 *

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