Title: Nonlinear dynamics and control of a four-wheel steering vehicle using symbolic-numerical approach
Authors: N.E. Sanchez
Addresses: Division of Engineering, University of Texas at San Antonio, San Antonio, Texas, USA
Abstract: A symbolic-numerical approach is used to analyse the response of a road vehicle equipped with a four-wheel steering system using a nonlinear model with a low number of DOF. A quadratic law to control the rear wheels is derived in closed-form, which shows better characteristics under steering and braking manoeuvres than its linear equivalent. The stability of the straight line motion for four-wheel steering and front-wheel steering vehicles is analysed using symbolic manipulation to characterize the stability in terms of eigenvalues computed in closed-form. This approach can provide formulas to assess dynamic stability and significantly enhance the vehicle design process.
Keywords: computer algebra; four-wheel steering; nonlinear dynamics; vehicle dynamics; vehicle stability; vehicle control; nonlinear modelling; steering manoeuvres; braking manoeuvres; vehicle design.
International Journal of Vehicle Design, 1994 Vol.15 No.1/2, pp.81 - 98
Published online: 28 May 2014 *
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